Sam Haves
7d7648f7ed
This enables two workflows: 1) Users that parsed some other format into MjSpec, or built it programmatically can export animated USD easily with as minimal as possible interaction with USD. 2) Creating a spec from USD, then modifying the spec, should not cause a duplication of data when writing to USD. PiperOrigin-RevId: 827627520 Change-Id: I02c8c14a18569547710e54f3704d52ac0bf70ce6
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/declareHandles.h>
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namespace mujoco {
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namespace usd {
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// Given an mjSpec, writes a USD representation of the data to the given layer.
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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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// layer: SdfLayerRefPtr that will be written to.
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// skip_elems_from_usd: If true, skips over elements in the spec that have a usd_prim_path
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// custom attribute set.
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bool WriteSpecToData(mjSpec* spec, pxr::SdfLayerRefPtr layer, bool skip_elems_from_usd = false);
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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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