Google DeepMind
644b42bee3
PiperOrigin-RevId: 740730698 Change-Id: If9c68798cda502d6d7632906a034437e2557802e
128 lines
5.0 KiB
C++
128 lines
5.0 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_UTILS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
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#include <type_traits>
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#include <pxr/base/tf/token.h>
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#include <pxr/imaging/hd/primTypeIndex.h>
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#include <pxr/usd/sdf/abstractData.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/sdf/schema.h>
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#include <pxr/usd/sdf/types.h>
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#include <pxr/usd/sdf/valueTypeName.h>
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namespace mujoco {
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namespace usd {
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// Create a prim spec and append it as a child of parent_path.
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pxr::SdfPath CreatePrimSpec(
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pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& parent_path,
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const pxr::TfToken& name, const pxr::TfToken& type = pxr::TfToken(),
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pxr::SdfSpecifier specifier = pxr::SdfSpecifier::SdfSpecifierDef);
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// Create an attribute spec and append it as a child of parent_path.
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// By default the attribute will be varying.
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pxr::SdfPath CreateAttributeSpec(
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pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
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const pxr::TfToken& name, const pxr::SdfValueTypeName& type_name,
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pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
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// Create a relationship spec and append it as a child of prim_path.
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pxr::SdfPath CreateRelationshipSpec(
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pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
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const pxr::TfToken& relationship_name,
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const pxr::SdfPath& relationship_path,
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pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
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pxr::SdfPath CreateClassSpec(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path,
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const pxr::TfToken& class_name);
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void AddAttributeConnection(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& attribute_path,
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const pxr::SdfPath& target_attribute_path);
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void AddPrimReference(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path,
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const pxr::SdfPath& referenced_prim_path);
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void AddPrimInherit(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path,
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const pxr::SdfPath& class_path);
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void ApplyApiSchema(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path,
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const pxr::TfToken& schema_name);
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void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path, pxr::TfToken kind);
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// Set the value specified by key on any field at field_path.
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template <typename T>
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void SetField(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& field_path,
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const pxr::TfToken key, T&& value) {
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using Deduced = typename std::remove_reference_t<T>;
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const auto typed_val = pxr::SdfAbstractDataConstTypedValue<Deduced>(&value);
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const pxr::SdfAbstractDataConstValue& untyped_val = typed_val;
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data->Set(field_path, key, untyped_val);
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}
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// Set the value specified by key on an attribute spec at attribute_path.
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template <typename T>
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void SetAttribute(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& attribute_path, const pxr::TfToken key,
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T&& value) {
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SetField(data, attribute_path, key, value);
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}
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// Set the value specified by key on a prim spec at prim_path.
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template <typename T>
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void SetPrimMetadata(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& prim_path, const pxr::TfToken key,
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T&& value) {
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SetAttribute(data, prim_path, key, value);
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}
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// Set the value specified by key on an attribute spec at attribute_path.
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template <typename T>
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void SetAttributeMetadata(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& attribute_path,
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const pxr::TfToken key, T&& value) {
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SetAttribute(data, attribute_path, key, value);
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}
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// Set the default value on an attribute spec at attribute_path.
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template <typename T>
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void SetAttributeDefault(pxr::SdfAbstractDataRefPtr& data,
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const pxr::SdfPath& attribute_path,
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T&& default_value) {
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SetAttribute(data, attribute_path, pxr::SdfFieldKeys->Default, default_value);
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}
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// Set the value specified by key on the root layer.
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template <typename T>
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void SetLayerMetadata(pxr::SdfAbstractDataRefPtr& data, const pxr::TfToken& key,
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T&& value) {
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SetAttribute(data, pxr::SdfPath::AbsoluteRootPath(), key, value);
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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_PLUGINS_MJCF_UTILS_H_
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