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
54 lines
1.5 KiB
C++
54 lines
1.5 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_WRITER_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
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#include <functional>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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namespace mujoco {
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namespace usd {
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using PoseSinkFn =
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std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
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class Writer {
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public:
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Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
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~Writer();
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Writer(const Writer&) = delete;
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Writer& operator=(const Writer&) = delete;
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void Update(const mjData* const data);
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void AddSink(PoseSinkFn sink_fn);
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private:
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void WriteSpecsWithoutUSDOriginToLayer();
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void BuildMjUsdMapping();
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pxr::UsdStageRefPtr stage_;
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std::vector<pxr::SdfPath> body_id_to_path_;
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mjSpec* spec_ = nullptr;
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mjModel_* model_ = nullptr;
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std::vector<PoseSinkFn> pose_sinks_;
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};
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
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