Copybara-Service
15cbc8fb55
PiperOrigin-RevId: 925328794 Change-Id: If45b8659ea9b88785660331bca5ee837ac172f67
221 lines
8.3 KiB
C++
221 lines
8.3 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
|
|
|
|
#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
|
|
#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
|
|
|
|
/// \file mjcPhysics/meshCollisionAPI.h
|
|
|
|
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
|
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
|
|
#include <pxr/base/gf/matrix4d.h>
|
|
#include <pxr/base/gf/vec3d.h>
|
|
#include <pxr/base/gf/vec3f.h>
|
|
#include <pxr/base/tf/token.h>
|
|
#include <pxr/base/tf/type.h>
|
|
#include <pxr/base/vt/value.h>
|
|
#include <pxr/pxr.h>
|
|
#include <pxr/usd/usd/apiSchemaBase.h>
|
|
#include <pxr/usd/usd/prim.h>
|
|
#include <pxr/usd/usd/stage.h>
|
|
|
|
PXR_NAMESPACE_OPEN_SCOPE
|
|
|
|
class SdfAssetPath;
|
|
|
|
// -------------------------------------------------------------------------- //
|
|
// MJCMESHCOLLISIONAPI //
|
|
// -------------------------------------------------------------------------- //
|
|
|
|
/// \class MjcPhysicsMeshCollisionAPI
|
|
///
|
|
/// API describing a MuJoCo mesh collider.
|
|
///
|
|
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
|
|
/// below that are text/tokens, the actual token is published and defined in
|
|
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
|
|
/// use MjcPhysicsTokens->rightHanded as the value.
|
|
///
|
|
class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
|
|
public:
|
|
/// Compile time constant representing what kind of schema this class is.
|
|
///
|
|
/// \sa UsdSchemaKind
|
|
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
|
|
|
|
/// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
|
|
/// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
|
|
/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
|
|
/// error for an invalid \p prim
|
|
explicit MjcPhysicsMeshCollisionAPI(const UsdPrim& prim = UsdPrim())
|
|
: UsdAPISchemaBase(prim) {}
|
|
|
|
/// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
|
|
/// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
|
|
/// as it preserves SchemaBase state.
|
|
explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
|
|
: UsdAPISchemaBase(schemaObj) {}
|
|
|
|
/// Destructor.
|
|
MJCPHYSICS_API
|
|
virtual ~MjcPhysicsMeshCollisionAPI();
|
|
|
|
/// Return a vector of names of all pre-declared attributes for this schema
|
|
/// class and all its ancestor classes. Does not include attributes that
|
|
/// may be authored by custom/extended methods of the schemas involved.
|
|
MJCPHYSICS_API
|
|
static const TfTokenVector& GetSchemaAttributeNames(
|
|
bool includeInherited = true);
|
|
|
|
/// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
|
|
/// schema at \p path on \p stage. If no prim exists at \p path on
|
|
/// \p stage, or if the prim at that path does not adhere to this schema,
|
|
/// return an invalid schema object. This is shorthand for the following:
|
|
///
|
|
/// \code
|
|
/// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
|
|
/// \endcode
|
|
///
|
|
MJCPHYSICS_API
|
|
static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr& stage,
|
|
const SdfPath& path);
|
|
|
|
/// Returns true if this <b>single-apply</b> API schema can be applied to
|
|
/// the given \p prim. If this schema can not be a applied to the prim,
|
|
/// this returns false and, if provided, populates \p whyNot with the
|
|
/// reason it can not be applied.
|
|
///
|
|
/// Note that if CanApply returns false, that does not necessarily imply
|
|
/// that calling Apply will fail. Callers are expected to call CanApply
|
|
/// before calling Apply if they want to ensure that it is valid to
|
|
/// apply a schema.
|
|
///
|
|
/// \sa UsdPrim::GetAppliedSchemas()
|
|
/// \sa UsdPrim::HasAPI()
|
|
/// \sa UsdPrim::CanApplyAPI()
|
|
/// \sa UsdPrim::ApplyAPI()
|
|
/// \sa UsdPrim::RemoveAPI()
|
|
///
|
|
MJCPHYSICS_API
|
|
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
|
|
|
|
/// Applies this <b>single-apply</b> API schema to the given \p prim.
|
|
/// This information is stored by adding "MjcMeshCollisionAPI" to the
|
|
/// token-valued, listOp metadata \em apiSchemas on the prim.
|
|
///
|
|
/// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
|
|
/// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
|
|
/// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
|
|
/// resulting in failure.
|
|
///
|
|
/// \sa UsdPrim::GetAppliedSchemas()
|
|
/// \sa UsdPrim::HasAPI()
|
|
/// \sa UsdPrim::CanApplyAPI()
|
|
/// \sa UsdPrim::ApplyAPI()
|
|
/// \sa UsdPrim::RemoveAPI()
|
|
///
|
|
MJCPHYSICS_API
|
|
static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim& prim);
|
|
|
|
protected:
|
|
/// Returns the kind of schema this class belongs to.
|
|
///
|
|
/// \sa UsdSchemaKind
|
|
MJCPHYSICS_API
|
|
UsdSchemaKind _GetSchemaKind() const override;
|
|
|
|
private:
|
|
// needs to invoke _GetStaticTfType.
|
|
friend class UsdSchemaRegistry;
|
|
MJCPHYSICS_API
|
|
static const TfType& _GetStaticTfType();
|
|
|
|
static bool _IsTypedSchema();
|
|
|
|
// override SchemaBase virtuals.
|
|
MJCPHYSICS_API
|
|
const TfType& _GetTfType() const override;
|
|
|
|
public:
|
|
// --------------------------------------------------------------------- //
|
|
// INERTIA
|
|
// --------------------------------------------------------------------- //
|
|
/// Controls how a mesh is used when mass and inertia are inferred from
|
|
/// geometry.
|
|
///
|
|
/// | ||
|
|
/// | -- | -- |
|
|
/// | Declaration | `uniform token mjc:inertia = "legacy"` |
|
|
/// | C++ Type | TfToken |
|
|
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
|
|
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
|
/// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
|
|
MJCPHYSICS_API
|
|
UsdAttribute GetInertiaAttr() const;
|
|
|
|
/// See GetInertiaAttr(), and also
|
|
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
|
/// If specified, author \p defaultValue as the attribute's default,
|
|
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
|
/// the default for \p writeSparsely is \c false.
|
|
MJCPHYSICS_API
|
|
UsdAttribute CreateInertiaAttr(VtValue const& defaultValue = VtValue(),
|
|
bool writeSparsely = false) const;
|
|
|
|
public:
|
|
// --------------------------------------------------------------------- //
|
|
// MAXHULLVERT
|
|
// --------------------------------------------------------------------- //
|
|
/// DEPRECATED: Use newton:maxHullVertices instead.
|
|
///
|
|
/// Sets an upper limit on the number of vertices in the meshes convex hull.
|
|
/// The default value of -1 means unlimited.
|
|
///
|
|
/// | ||
|
|
/// | -- | -- |
|
|
/// | Declaration | `uniform int mjc:maxhullvert = -1` |
|
|
/// | C++ Type | int |
|
|
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
|
|
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
|
MJCPHYSICS_API
|
|
UsdAttribute GetMaxHullVertAttr() const;
|
|
|
|
/// See GetMaxHullVertAttr(), and also
|
|
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
|
/// If specified, author \p defaultValue as the attribute's default,
|
|
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
|
/// the default for \p writeSparsely is \c false.
|
|
MJCPHYSICS_API
|
|
UsdAttribute CreateMaxHullVertAttr(VtValue const& defaultValue = VtValue(),
|
|
bool writeSparsely = false) const;
|
|
|
|
public:
|
|
// ===================================================================== //
|
|
// Feel free to add custom code below this line, it will be preserved by
|
|
// the code generator.
|
|
//
|
|
// Just remember to:
|
|
// - Close the class declaration with };
|
|
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
|
|
// - Close the include guard with #endif
|
|
// ===================================================================== //
|
|
// --(BEGIN CUSTOM CODE)--
|
|
};
|
|
|
|
PXR_NAMESPACE_CLOSE_SCOPE
|
|
|
|
#endif
|