Sam Haves
44c8ef890d
PiperOrigin-RevId: 846767370 Change-Id: Ieedbe127353623c11150551c1409d340dbc57421
107 lines
3.3 KiB
C++
107 lines
3.3 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <cstddef>
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#include <string>
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#if defined(_WIN32) || defined(__CYGWIN__)
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#include <windows.h>
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#else
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#include <dlfcn.h>
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#endif
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#include <pxr/base/plug/registry.h>
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#include <mujoco/experimental/usd/utils.h>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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namespace mujoco {
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namespace usd {
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constexpr const char* kUsdPrimPathKey = "usd_primpath";
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void SetUsdPrimPathUserValue(mjsElement* element,
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const pxr::SdfPath& prim_path) {
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// The value is a pointer to a newly allocated SdfPath, which will be deleted
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// when the mjsElement is deleted.
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const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
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mjs_setUserValueWithCleanup(
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element, kUsdPrimPathKey, usd_primpath,
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[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
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}
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pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
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const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
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if (user_data) {
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return *static_cast<const pxr::SdfPath*>(user_data);
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}
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return pxr::SdfPath();
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}
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} // namespace usd
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} // namespace mujoco
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namespace {
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//Automatically register USD plugins when the library is loaded.
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//This avoids the need for users to manually set PXR_PLUGINPATH_NAME.
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[[maybe_unused]]
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bool RegisterMujocoUsdPlugins() {
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std::string plugin_path;
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#if defined(_WIN32) || defined(__CYGWIN__)
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HMODULE hModule = NULL;
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if (GetModuleHandleEx(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS |
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GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT,
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(LPCTSTR)&mujoco::usd::SetUsdPrimPathUserValue,
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&hModule)) {
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char path[MAX_PATH];
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if (GetModuleFileName(hModule, path, MAX_PATH)) {
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std::string lib_path(path);
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// Remove filename to get directory
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size_t last_slash = lib_path.find_last_of("\\/");
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if (last_slash != std::string::npos) {
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plugin_path = lib_path.substr(0, last_slash);
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}
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}
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}
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#else
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Dl_info info;
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if (dladdr((void*)&mujoco::usd::SetUsdPrimPathUserValue, &info)) {
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std::string lib_path(info.dli_fname);
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// Remove filename to get directory
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size_t last_slash = lib_path.find_last_of('/');
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if (last_slash != std::string::npos) {
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plugin_path = lib_path.substr(0, last_slash);
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}
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}
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#endif
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if (!plugin_path.empty()) {
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#if defined(_WIN32) || defined(__CYGWIN__)
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std::string full_path =
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plugin_path + "\\" + "mujoco-usd-resources" + "\\**\\plugInfo.json";
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#else
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std::string full_path =
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plugin_path + "/" + "mujoco-usd-resources" + "/**/plugInfo.json";
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#endif
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pxr::PlugRegistry::GetInstance().RegisterPlugins(full_path);
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}
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return true;
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}
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// Force registration at library load time.
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bool registered = RegisterMujocoUsdPlugins();
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} // namespace
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