Sam Haves
9089059517
PiperOrigin-RevId: 775269423 Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
45 lines
1.5 KiB
C++
45 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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#include <mujoco/experimental/usd/utils.h>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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namespace mujoco {
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namespace usd {
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constexpr const char* kUsdPrimPathKey = "usd_primpath";
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void SetUsdPrimPathUserValue(mjsElement* element,
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const pxr::SdfPath& prim_path) {
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// The value is a pointer to a newly allocated SdfPath, which will be deleted
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// when the mjsElement is deleted.
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const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
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mjs_setUserValueWithCleanup(
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element, kUsdPrimPathKey, usd_primpath,
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[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
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}
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pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
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const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
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if (user_data) {
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return *static_cast<const pxr::SdfPath*>(user_data);
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}
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return pxr::SdfPath();
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}
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} // namespace usd
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} // namespace mujoco
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