Google DeepMind
d3bc0544d3
Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0). This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco. PiperOrigin-RevId: 751013128 Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
103 lines
4.1 KiB
C++
103 lines
4.1 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_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#include <string>
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#include <gtest/gtest.h>
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#include "test/fixture.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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#define EXPECT_PRIM_VALID(stage, path) \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
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#define EXPECT_PRIM_IS_A(stage, path, type) \
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{ \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
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}
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#define EXPECT_PRIM_API_APPLIED(stage, path, api) \
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{ \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
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}
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#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api) \
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{ \
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EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
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}
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#define EXPECT_PRIM_KIND(stage, path, kind) \
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{ \
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pxr::TfToken prim_kind; \
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pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
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EXPECT_EQ(kind, prim_kind); \
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}
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#define EXPECT_PRIM_PURPOSE(stage, path, purpose) \
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{ \
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pxr::TfToken prim_purpose; \
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pxr::UsdGeomImageable::Get(stage, SdfPath(path)) \
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.GetPurposeAttr() \
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.Get(&prim_purpose); \
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EXPECT_EQ(prim_purpose, purpose); \
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}
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#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
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EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
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#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
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EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
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namespace mujoco {
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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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template <typename T>
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void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
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const T& value) {
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auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
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EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
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T attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value, value) << "Attribute " << path << " has value "
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<< attr_value << ". Expected: " << value;
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}
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// Specialization for SdfAssetPath, so that we can compare only the asset path
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// and not care about whatever the resolved path is.
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// Otherwise the default operator== would fail because it tests for equality of
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// the asset path AND the resolved path.
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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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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path);
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using MjcfSdfFileFormatPluginTest = MujocoTest;
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} // namespace mujoco
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#endif // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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