Google DeepMind
8e7457d7c6
The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default PiperOrigin-RevId: 746467942 Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
35 lines
1.3 KiB
C++
35 lines
1.3 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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#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/abstractData.h>
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namespace mujoco {
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namespace usd {
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// Given an mjSpec, write it to a SdfAbstractData.
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//
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// Args:
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// spec: mjSpec built programmatically or via parsed XML.
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// data: SdfAbstractDataRefPtr that will be written to.
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// write_physics: Whether to write physics data.
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bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data,
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bool write_physics);
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
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