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
67 lines
2.2 KiB
C++
67 lines
2.2 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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#include "test/experimental/usd/plugins/mjcf/fixture.h"
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/log/check.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/declareHandles.h>
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#include <pxr/usd/sdf/fileFormat.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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#include <pxr/usd/usd/modelAPI.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/mesh.h>
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#include <pxr/usd/usdGeom/primvarsAPI.h>
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namespace mujoco {
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using pxr::SdfPath;
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pxr::SdfLayerRefPtr LoadLayer(
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const std::string& xml,
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const pxr::SdfFileFormat::FileFormatArguments& args) {
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auto layer = pxr::SdfLayer::CreateAnonymous(
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"test_layer", pxr::SdfFileFormat::FindByExtension("xml"), args);
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layer->ImportFromString(xml);
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EXPECT_THAT(layer, testing::NotNull());
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return layer;
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}
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template <>
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void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
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const char* path,
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const pxr::SdfAssetPath& value) {
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auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfAssetPath attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
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}
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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path) {
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auto attr = stage->GetAttributeAtPath(SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfPathVector sources;
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attr.GetConnections(&sources);
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EXPECT_EQ(sources.size(), 1);
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EXPECT_EQ(sources[0], SdfPath(connection_path));
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}
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//
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} // namespace mujoco
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