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NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/scripts/link_app.py | import os
import argparse
import sys
import json
import packmanapi
import urllib3
def find_omniverse_apps():
http = urllib3.PoolManager()
try:
r = http.request("GET", "http://127.0.0.1:33480/components")
except Exception as e:
print(f"Failed retrieving apps from an Omniverse Launcher, maybe it is not installed?\nError: {e}")
sys.exit(1)
apps = {}
for x in json.loads(r.data.decode("utf-8")):
latest = x.get("installedVersions", {}).get("latest", "")
if latest:
for s in x.get("settings", []):
if s.get("version", "") == latest:
root = s.get("launch", {}).get("root", "")
apps[x["slug"]] = (x["name"], root)
break
return apps
def create_link(src, dst):
print(f"Creating a link '{src}' -> '{dst}'")
packmanapi.link(src, dst)
APP_PRIORITIES = ["code", "create", "view"]
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Create folder link to Kit App installed from Omniverse Launcher")
parser.add_argument(
"--path",
help="Path to Kit App installed from Omniverse Launcher, e.g.: 'C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4'",
required=False,
)
parser.add_argument(
"--app", help="Name of Kit App installed from Omniverse Launcher, e.g.: 'code', 'create'", required=False
)
args = parser.parse_args()
path = args.path
if not path:
print("Path is not specified, looking for Omniverse Apps...")
apps = find_omniverse_apps()
if len(apps) == 0:
print(
"Can't find any Omniverse Apps. Use Omniverse Launcher to install one. 'Code' is the recommended app for developers."
)
sys.exit(0)
print("\nFound following Omniverse Apps:")
for i, slug in enumerate(apps):
name, root = apps[slug]
print(f"{i}: {name} ({slug}) at: '{root}'")
if args.app:
selected_app = args.app.lower()
if selected_app not in apps:
choices = ", ".join(apps.keys())
print(f"Passed app: '{selected_app}' is not found. Specify one of the following found Apps: {choices}")
sys.exit(0)
else:
selected_app = next((x for x in APP_PRIORITIES if x in apps), None)
if not selected_app:
selected_app = next(iter(apps))
print(f"\nSelected app: {selected_app}")
_, path = apps[selected_app]
if not os.path.exists(path):
print(f"Provided path doesn't exist: {path}")
else:
SCRIPT_ROOT = os.path.dirname(os.path.realpath(__file__))
create_link(f"{SCRIPT_ROOT}/../../app", path)
print("Success!")
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/python.sh | #!/bin/bash
# Copyright 2023 NVIDIA CORPORATION
# 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.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
export PYTHONNOUSERSITE=1
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" -u "$@"
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/python.bat | :: Copyright 2023 NVIDIA CORPORATION
::
:: 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.
@echo off
setlocal
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
set PYTHONNOUSERSITE=1
"%PM_PYTHON%" -u %*
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/packman.cmd | :: Reset errorlevel status (don't inherit from caller) [xxxxxxxxxxx]
@call :ECHO_AND_RESET_ERROR
:: You can remove the call below if you do your own manual configuration of the dev machines
call "%~dp0\bootstrap\configure.bat"
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
:: Generate temporary path for variable file
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile ^
-File "%~dp0bootstrap\generate_temp_file_name.ps1"') do set PM_VAR_PATH=%%a
if %1.==. (
set PM_VAR_PATH_ARG=
) else (
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
)
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/generate_temp_file_name.ps1 | <#
Copyright 2023 NVIDIA CORPORATION
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.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
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|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/configure.bat | :: Copyright 2023 NVIDIA CORPORATION
::
:: 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.
set PM_PACKMAN_VERSION=6.33.2
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating directory %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.7.9-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic rename
rename "%TEMP_FOLDER_NAME%" "%PM_PYTHON_VERSION%" 1> nul
:: Failure during move, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error renaming python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\packman.py
if exist "%PM_MODULE%" goto ENSURE_7ZA
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
:ENSURE_7ZA
set PM_7Za_VERSION=16.02.4
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\chk\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" pull "%PM_MODULE_DIR%\deps.packman.xml"
if %errorlevel% neq 0 (
echo !!! Error fetching packman dependencies !!!
goto ERROR
)
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: Copyright 2023 NVIDIA CORPORATION
::
:: 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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/download_file_from_url.ps1 | <#
Copyright 2023 NVIDIA CORPORATION
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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 3
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
$triesLeft = 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
}
} while ($triesLeft -gt 0)
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/generate_temp_folder.ps1 | <#
Copyright 2023 NVIDIA CORPORATION
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.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
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# SIG # End signature block
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/tools/packman/bootstrap/install_package.py | # Copyright 2023 NVIDIA CORPORATION
# 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.
import logging
import zipfile
import tempfile
import sys
import shutil
__author__ = "hfannar"
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
class TemporaryDirectory:
def __init__(self):
self.path = None
def __enter__(self):
self.path = tempfile.mkdtemp()
return self.path
def __exit__(self, type, value, traceback):
# Remove temporary data created
shutil.rmtree(self.path)
def install_package(package_src_path, package_dst_path):
with zipfile.ZipFile(
package_src_path, allowZip64=True
) as zip_file, TemporaryDirectory() as temp_dir:
zip_file.extractall(temp_dir)
# Recursively copy (temp_dir will be automatically cleaned up on exit)
try:
# Recursive copy is needed because both package name and version folder could be missing in
# target directory:
shutil.copytree(temp_dir, package_dst_path)
except OSError as exc:
logger.warning(
"Directory %s already present, packaged installation aborted" % package_dst_path
)
else:
logger.info("Package successfully installed to %s" % package_dst_path)
install_package(sys.argv[1], sys.argv[2])
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/exts/omni.example.spawn_prims/tutorial/tutorial.md | 
# Make an Extension To Spawn Primitives
In this document you learn how to create an Extension inside of Omniverse. Extensions are what make up Omniverse. This tutorial is ideal for those who are beginners to Omniverse Kit.
## Learning Objectives
- Create an Extension
- Use Omni Commands in Omniverse
- Make a functional Button
- Update the Extension's title and description
- Dock the Extension Window
# Prerequisites
- [Set up your environment](https://github.com/NVIDIA-Omniverse/ExtensionEnvironmentTutorial/blob/master/Tutorial.md#4-create-a-git-repository)
- Omniverse Kit 105.1.1 or higher
## Step 1: Create an Extension
Omniverse is made up of all kinds of Extensions that were created by developers. In this section, you create an Extension and learn how the code gets reflected back in Omniverse.
### Step 1.1: Navigate to the Extensions List
In Omniverse, navigate to the *Extensions* Window:
> **Note:** If you don't see the *Extensions* Window, enable **Window > Extensions**:
>
> 
### Step 1.2: Create A New Extension Template Project
Click the **plus** icon, and select ```New Extension Template Project``` to create a extension:
### Step 1.3: Choose a Location for Your Extension
In the following prompt, select the default location for your Extension, and click **Select**:
### Step 1.4: Name your Extension
Next, name your project "kit-exts-spawn-prims":
And name your Extension "my.spawn_prims.ext":
> **Note:** You can choose a different Extension name when publishing. For example: "companyName.extdescrip1.descrip2"
> You **may not** use omni in your extension id.
After this, two things happen.
First, Visual Studio Code starts up, displaying the template Extension code:
> **Note:** If `extension.py` is not open, go to exts > my.spawn_prims.ext > my > spawn_prims > ext > extension.py
Second, a new window appears in Omniverse, called "My Window":
If you click **Add** in *My Window*, the `empty` text changes to `count: 1`, indicating that the button was clicked. Pressing **Add** again increases the number for count. Pressing **Reset** will reset it back to `empty`:
You use this button later to spawn a primitive.
> **Note:** If you close out of VSCode, you can reopen the extension's code by searching for it in the Extension Window and Click the VSCode Icon. This will only work if you have VSCode installed.
> 
## Step 2: Update Your Extension's Metadata
With the Extension created, you can update the metadata in `extension.toml`. This is metadata is used in the Extension details of the *Extensions Manager*. It's also used to inform other systems of the Application.
### Step 2.1: Navigate to `extension.toml`
Navigate to `config/extension.toml`:
### Step 2.2: Name and Describe your Extension
Change the Extension's `title` and `description`:
``` python
title = "Spawn Primitives"
description = "Spawns different primitives utilizing omni kit's commands"
```
Save the file and head back over into Omniverse.
### Step 2.3: Locate the Extension
Select the *Extension* Window, search for your Extension in *Third Party* tab, and select it in the left column to pull up its details:
Now that your template is created, you can start editing the source code and see it reflected in Omniverse.
## Step 3: Update Your Extension's Interface
Currently, your window is called "My Window", and there are two buttons that says, "Add" and "Reset". In this step, you make some changes to better reflect the purpose of your Extension.
### Step 3.1: Navigate to `extension.py`
In Visual Studio Code, navigate to `ext/my.spawn_prims.ext/my/spawn_prims/ext/extension.py` to find the following source code:
``` python
import omni.ext
import omni.ui as ui
# Functions and vars are available to other extension as usual in python: `example.python_ext.some_public_function(x)`
def some_public_function(x: int):
print("[my.spawn_prims.ext] some_public_function was called with x: ", x)
return x ** x
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class MySpawn_primsExtExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._count = 0
self._window = ui.Window("My Window", width=300, height=300)
with self._window.frame:
with ui.VStack():
label = ui.Label("")
def on_click():
self._count += 1
label.text = f"count: {self._count}"
def on_reset():
self._count = 0
label.text = "empty"
on_reset()
with ui.HStack():
ui.Button("Add", clicked_fn=on_click)
ui.Button("Reset", clicked_fn=on_reset)
def on_shutdown(self):
print("[my.spawn_prims.ext] my spawn_prims ext shutdown")
```
Next, change some values to better reflect what your Extension does.
### Step 3.2: Update the Window Title
Initialize `ui.Window` with the title "Spawn Primitives", instead of "My window":
``` python
self._window = ui.Window("Spawn Primitives", width=300, height=300)
```
### Step 3.3: Remove the Label and Reset Functionality
Remove the following lines and add `pass` inside `on_click()`
``` python
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._count = 0 # DELETE THIS LINE
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
label = ui.Label("") # DELETE THIS LINE
def on_click():
pass # ADD THIS LINE
self._count += 1 # DELETE THIS LINE
label.text = f"count: {self._count}" # DELETE THIS LINE
def on_reset(): # DELETE THIS LINE
self._count = 0 # DELETE THIS LINE
label.text = "empty" # DELETE THIS LINE
on_reset() # DELETE THIS LINE
with ui.HStack():
ui.Button("Add", clicked_fn=on_click)
ui.Button("Reset", clicked_fn=on_reset) # DELETE THIS LINE
```
What your code should look like after removing the lines:
``` python
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
def on_click():
pass
with ui.HStack():
ui.Button("Add", clicked_fn=on_click)
```
### Step 3.4: Update the Button Text
Update the `Button` text to "Spawn Cube".
``` python
ui.Button("Spawn Cube", clicked_fn=on_click)
```
### Step 3.5: Review Your Changes
After making the above changes, your code should read as follows:
``` python
import omni.ext
import omni.ui as ui
# Functions and vars are available to other extension as usual in python: `example.python_ext.some_public_function(x)`
def some_public_function(x: int):
print("[my.spawn_prims.ext] some_public_function was called with x: ", x)
return x ** x
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class MySpawn_primsExtExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
def on_click():
pass
with ui.HStack():
ui.Button("Spawn Cube", clicked_fn=on_click)
def on_shutdown(self):
print("[my.spawn_prims.ext] my spawn_prims ext shutdown")
```
Save the file, and return to Omniverse. There, you'll see your new window with a large button saying "Spawn Cube".
### Step 4: Dock the Extension Window
Omniverse allows you to move Extensions and dock them in any location. To do so, click and drag your window to the desired location.
## Step 5: Prepare Your Commands Window
Commands are actions that take place inside Omniverse. A simple command could be creating an object or changing a color. Commands are composed of a `do` and an `undo` feature. To read more about what commands are and how to create custom commands, read our [documentation](https://docs.omniverse.nvidia.com/kit/docs/omni.kit.commands/latest/Overview.html).
Omniverse allows users and developers to see what commands are being executed as they work in the application. You can find this information in the *Commands* window:
You'll use this window to quickly build out command-based functionality.
> > **Note:** If you don't see the *Commands* window, make sure it is enabled in the Extension Manager / Extension Window by searching for `omni.kit.window.commands`. Then go to **Window > Commands**
### Step 5.1: Move Your Commands Window
Move the Commands window to get a better view, or dock it somewhere convenient:
### Step 5.2: Clear Old Commands
Select the **Clear History** button in the *Commands* window. This makes it easier to see what action takes place when you try to create a cube:
### Step 6: Getting the Command Code
Now that you have the necessary tools, you learn how you can grab one of these commands and use it in the extension. Specifically, you use it create a cube. There are different ways you can create the cube, but for this example, you use **Create** menu in the top bar.
### Step 6.1: Create a Cube
Click **Create > Mesh > Cube** from the top bar:
If the *Create Menu* is not avaliable, go to *Stage Window* and **Right Click > Create > Mesh > Cube**
In the *Viewport*, you'll see your new cube. In the *Commands Window*, you'll see a new command.
> **Note:** If you cannot see the Cube try adding a light to the stage. **Create > Light > Distant Light**
### Step 6.2: Copy the Create Mesh Command
Select the new line **CreateMeshPrimWithDefaultXform** in the Command Window, then click **Selected Commands** to copy the command to the clipboard:
### Step 6.3: Use the Command in Your Extension
Paste the copied command into `on_click()`. The whole file looks like this:
``` python
import omni.ext
import omni.ui as ui
# Functions and vars are available to other extension as usual in python: `example.python_ext.some_public_function(x)`
def some_public_function(x: int):
print("[my.spawn_prims.ext] some_public_function was called with x: ", x)
return x ** x
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class MySpawn_primsExtExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
def on_click():
import omni.kit.commands
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cube',
above_ground=True)
with ui.HStack():
ui.Button("Spawn Cube", clicked_fn=on_click)
def on_shutdown(self):
print("[my.spawn_prims.ext] my spawn_prims ext shutdown")
```
You added a new import and a command that creates a cube.
### Step 6.4: Group Your Imports
Move the import statement to the top of the module with the other imports:
```python
import omni.ext
import omni.ui as ui
import omni.kit.commands
```
### Step 6.5: Relocate Create Command
Place `omni.kit.commands.execute()` inside the `on_click()` definition and remove `pass`.
``` python
def on_click():
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cube',
above_ground=True)
```
### Step 6.6: Review and Save
Ensure your code matches ours:
``` python
import omni.ext
import omni.ui as ui
import omni.kit.commands
# Functions and vars are available to other extension as usual in python: `example.python_ext.some_public_function(x)`
def some_public_function(x: int):
print("[my.spawn_prims.ext] some_public_function was called with x: ", x)
return x ** x
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class MySpawn_primsExtExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[my.spawn_prims.ext] my spawn_prims ext startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
def on_click():
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cube',
above_ground=True)
with ui.HStack():
ui.Button("Spawn Cube", clicked_fn=on_click)
def on_shutdown(self):
print("[my.spawn_prims.ext] my spawn_prims ext shutdown")
```
Save your code, and switch back to Omniverse.
### Step 7: Test Your Work
In Omniverse, test your extension by clicking **Spawn Cube**. You should see that a new Cube prim is created with each button press.
Excellent, you now know how to spawn a cube using a function. What's more, you didn't have to reference anything as Omniverse was kind enough to deliver everything you needed.
Continuing on and via same methods, construct a second button that spawns a cone in the same interface.
## Step 8: Spawn a Cone
In this step, you create a new button that spawns a cone.
### Step 8.1: Add a Button
Create a new button below the spawn cube button to spawn a cone:
```python
def on_startup(self, ext_id):
print("[omni.example.spawn_prims] MyExtension startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
with ui.VStack():
def on_click():
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cube',
above_ground=True)
ui.Button("Spawn Cube", clicked_fn=on_click)
ui.Button("Spawn Cone", clicked_fn=on_click)
```
### Step 8.2: Save and Review
Save the file, switch back to Omniverse, and test your new button:
Notice that both buttons use the same function and, therefore, both spawn a `Cube`, despite their labels.
### Step 8.3: Create a Cone from the Menu
Using the same *Create* menu in Omniverse, create a Cone (**Create > Mesh > Cone**).
### Step 8.4: Copy the Commands to your Extension
Copy the command in the *Commands* tab with the **Selected Commands** button.
### Step 8.5: Implement Your New Button
Paste the command into `extensions.py` like you did before:
``` python
def on_click():
#Create a Cube
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cube',
above_ground=True)
#Create a Cone
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type='Cone',
above_ground=True)
```
Notice the command is the same, and only the `prim_type` is different:
- To spawn a cube, you pass `'Cube'`
- To spawn a cone, you pass `'Cone'`
### Step 8.6: Accept a Prim Type in `on_click()`
Add a `prim_type` argument to `on_click()`:
``` python
def on_click(prim_type):
```
With this value, you can delete the second `omni.kit.commands.execute()` call. Next, you'll use `prim_type` to determine what shape to create.
### Step 8.7: Use the Prim Type in `on_click()`
Replace `prim_type='Cube'` with `prim_type=prim_type`:
``` python
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type=prim_type,
above_ground=True)
```
`on_click()` should now look like this:
``` python
def on_click(prim_type):
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type=prim_type,
above_ground=True)
```
### Step 8.8: Pass the Prim Type to `on_click()`
Update the `clicked_fn` for both UI Buttons to pass the `prim_type`:
``` python
ui.Button("Spawn Cube", clicked_fn=on_click("Cube"))
ui.Button("Spawn Cone", clicked_fn=on_click("Cone"))
```
### Step 8.9: Save and Test
Save the file, and test the updates to your *Spawn Primitives* Extension:
## Step 9: Conclusion
Great job! You've successfully created a second button that spawns a second mesh, all within the same Extension. This, of course, can be expanded upon.
> **Optional Challenge:** Add a button for every mesh type on your own.
>
> 
>
> Below you can find a completed "cheat sheet" if you need help or just want to copy it for your own use.
>
> <details>
> <summary><b>Click to show the final code</b></summary>
>
> ```
> import omni.ext
> import omni.ui as ui
> import omni.kit.commands
>
> # Functions and vars are available to other extension as usual in python: `example.python_ext some_public_function(x)`
> def some_public_function(x: int):
> print("[my.spawn_prims.ext] some_public_function was called with x: ", x)
> return x ** x
>
> # Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
> # instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
> # on_shutdown() is called.
> class MyExtension(omni.ext.IExt):
> # ext_id is current extension id. It can be used with extension manager to query additional information, like where
> # this extension is located on filesystem.
> def on_startup(self, ext_id):
> print("[omni.example.spawn_prims] MyExtension startup")
>
> self._window = ui.Window("Spawn Primitives", width=300, height=300)
> with self._window.frame:
> with ui.VStack():
>
> def on_click(prim_type):
> omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
> prim_type=prim_type,
> above_ground=True)
>
> ui.Button("Spawn Cube", clicked_fn=on_click("Cube"))
> ui.Button("Spawn Cone", clicked_fn=on_click("Cone"))
> ui.Button("Spawn Cylinder", clicked_fn=on_click("Cylinder"))
> ui.Button("Spawn Disk", clicked_fn=on_click("Disk"))
> ui.Button("Spawn Plane", clicked_fn=on_click("Plane"))
> ui.Button("Spawn Sphere", clicked_fn=on_click("Sphere"))
> ui.Button("Spawn Torus", clicked_fn=on_click("Torus"))
>
> def on_shutdown(self):
> print("[omni.example.spawn_prims] MyExtension shutdown")
> ```
>
> </details> |
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/exts/omni.example.spawn_prims/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "1.0.0"
# The title and description fields are primarily for displaying extension info in UI
title = "Spawn Primitives"
description="Spawn different primitives utilizing omni kit's commands."
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = ""
# One of categories for UI.
category = "Example"
# Keywords for the extension
keywords = ["kit", "example"]
# Use omni.ui to build simple UI
[dependencies]
"omni.kit.uiapp" = {}
# Main python module this extension provides, it will be publicly available as "import omni.hello.world".
[[python.module]]
name = "omni.example.spawn_prims"
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/exts/omni.example.spawn_prims/omni/example/spawn_prims/extension.py | # Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import omni.ext
import omni.ui as ui
import omni.kit.commands
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class MyExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
"""
Called when MyExtension starts.
Args:
ext_id : id of the extension that is
"""
print("[omni.example.spawn_prims] MyExtension startup")
self._window = ui.Window("Spawn Primitives", width=300, height=300)
with self._window.frame:
# VStack which will layout UI elements vertically
with ui.VStack():
def on_click(prim_type):
"""
Creates a mesh primitive of the given type.
Args:
prim_type : The type of primitive to
"""
# omni.kit.commands.execute will execute the given command that is passed followed by the commands arguments
omni.kit.commands.execute('CreateMeshPrimWithDefaultXform',
prim_type=prim_type,
above_ground=True)
# Button UI Elements
ui.Button("Spawn Cube", clicked_fn=lambda: on_click("Cube"))
ui.Button("Spawn Cone", clicked_fn=lambda: on_click("Cone"))
ui.Button("Spawn Cylinder", clicked_fn=lambda: on_click("Cylinder"))
ui.Button("Spawn Disk", clicked_fn=lambda: on_click("Disk"))
ui.Button("Spawn Plane", clicked_fn=lambda: on_click("Plane"))
ui.Button("Spawn Sphere", clicked_fn=lambda: on_click("Sphere"))
ui.Button("Spawn Torus", clicked_fn=lambda: on_click("Torus"))
def on_shutdown(self):
"""
Called when the extension is shutting down.
"""
print("[omni.example.spawn_prims] MyExtension shutdown")
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/exts/omni.example.spawn_prims/omni/example/spawn_prims/__init__.py | # Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
from .extension import *
|
NVIDIA-Omniverse/kit-extension-sample-spawn-prims/exts/omni.example.spawn_prims/docs/README.md | # Spawn Primitives (omni.example.spawn_prims)
## Overview
The Spawn Primitives Sample extension creates a new window and has a button for each primitive type. Selecting these buttons will spawn in a primitive corresponding to the label on the button.
See [Adding the Extension](../../../README.md#adding-this-extension) on how to add the extension to your project.
## [Tutorial](../tutorial/tutorial.md)
This extension sample also includes a step-by-step tutorial to accelerate your growth as you learn to build your own
Omniverse Kit extensions. [Get started with the tutorial.](../tutorial/tutorial.md)
## Usage
### Spawn Primitives
* Click on the **Cube**, **Disk**, **Cone**, etc buttons to spawn the corresponding primitive.
|
NVIDIA-Omniverse/mjcf-importer-extension/PACKAGE-INFO.yaml | Package : omniverse-mjcf-importer
License Type : Modified Apache 2.0
|
NVIDIA-Omniverse/mjcf-importer-extension/repo.bat | @echo off
call "%~dp0tools\packman\python.bat" "%~dp0tools\repoman\repoman.py" %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/mjcf-importer-extension/build.bat | @echo off
call "%~dp0repo" build %*
|
NVIDIA-Omniverse/mjcf-importer-extension/build.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
source "$SCRIPT_DIR/repo.sh" build $@ || exit $?
|
NVIDIA-Omniverse/mjcf-importer-extension/VERSION.md | 105.1 |
NVIDIA-Omniverse/mjcf-importer-extension/repo.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/repoman/repoman.py "$@"
|
NVIDIA-Omniverse/mjcf-importer-extension/repo.toml | ########################################################################################################################
# Repo tool base settings
########################################################################################################################
[repo]
# Use the Kit Template repo configuration as a base. Only override things specific to the repo.
import_configs = ["${root}/_repo/deps/repo_kit_tools/kit-template/repo.toml"]
# Repository Name
name = "omniverse-mjcf-importer"
[repo_build.msbuild]
vs_version = "vs2019"
[repo_build]
# List of packman projects to pull (in order)
fetch.packman_host_files_to_pull = [
"${root}/deps/host-deps.packman.xml",
]
fetch.packman_target_files_to_pull = [
"${root}/deps/kit-sdk.packman.xml",
"${root}/deps/rtx-plugins.packman.xml",
"${root}/deps/omni-physics.packman.xml",
"${root}/deps/kit-sdk-deps.packman.xml",
"${root}/deps/omni-usd-resolver.packman.xml",
"${root}/deps/ext-deps.packman.xml",
]
post_build.commands = [
# TODO, fix this?
# ["${root}/repo${shell_ext}", "stubgen", "-c", "${config}"]
]
[repo_docs]
name = "Omniverse MJCF Importer"
project = "omniverse-mjcf-importer"
api_output_directory = "api"
use_fast_doxygen_conversion=false
sphinx_version = "4.5.0.2-py3.10-${platform}"
sphinx_exclude_patterns = [
"_build",
"tools",
"VERSION.md",
"source/extensions/omni.importer.mjcf/PACKAGE-LICENSES",
]
sphinx_conf_py_extra = """
autodoc_mock_imports = ["omni.client", "omni.kit"]
autodoc_member_order = 'bysource'
"""
[repo_package.packages."platform:windows-x86_64".docs]
windows_max_path_length = 0
[repo_publish_exts]
enabled = true
use_packman_to_upload_archive = false
exts.include = [
"omni.importer.mjcf",
]
|
NVIDIA-Omniverse/mjcf-importer-extension/premake5.lua | -- Shared build scripts from repo_build package.
repo_build = require("omni/repo/build")
-- Repo root
root = repo_build.get_abs_path(".")
-- Set the desired MSVC, WINSDK, and MSBUILD versions before executing the kit template premake configuration.
MSVC_VERSION = "14.27.29110"
WINSDK_VERSION = "10.0.18362.0"
MSBUILD_VERSION = "Current"
-- Execute the kit template premake configuration, which creates the solution, finds extensions, etc.
dofile("_repo/deps/repo_kit_tools/kit-template/premake5.lua")
-- The default kit dev app with extensions from this repo made available.
-- define_app("omni.app.kit.dev")
define_app("omni.importer.mjcf.app")
|
NVIDIA-Omniverse/mjcf-importer-extension/README.md | # Omniverse MJCF Importer
The MJCF Importer Extension is used to import MuJoCo representations of scenes.
MuJoCo Modeling XML File (MJCF), is an XML format for representing a scene in the MuJoCo simulator.
## Getting Started
1. Clone the GitHub repo to your local machine.
2. Open a command prompt and navigate to the root of your cloned repo.
3. Run `build.bat` to bootstrap your dev environment and build the example extensions.
4. Run `_build\{platform}\release\omni.importer.mjcf.app.bat` to start the Kit application.
5. From the menu, select `Isaac Utils->MJCF Importer` to launch the UI for the MJCF Importer extension.
This extension is enabled by default. If it is ever disabled, it can be re-enabled from the Extension Manager
by searching for `omni.importer.mjcf`.
**Note:** On Linux, replace `.bat` with `.sh` in the instructions above.
## Conventions
Special characters in link or joint names are not supported and will be replaced with an underscore. In the event that the name starts with an underscore due to the replacement, an a is pre-pended. It is recommended to make these name changes in the mjcf directly.
See the [Convention References](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/reference_conventions.html#isaac-sim-conventions) documentation for a complete list of `Isaac Sim` conventions.
## User Interface
### Configuration Options
* **Fix Base Link**: When checked, every world body will have its base fixed where it is placed in world coordinates.
* **Import Inertia Tensor**: Check to load inertia from mjcf directly. If the mjcf does not specify an inertia tensor, identity will be used and scaled by the scaling factor. If unchecked, Physx will compute it automatically.
* **Stage Units Per Meter**: The default length unit is meters. Here you can set the scaling factor to match the unit used in your MJCF.
* **Link Density**: If a link does not have a given mass, it uses this density (in Kg/m^3) to compute mass based on link volume. A value of 0.0 can be used to tell the physics engine to automatically compute density as well.
* **Clean Stage**: When checked, cleans the stage before loading the new MJCF, otherwise loads it on current open stage at position `(0,0,0)`
* **Self Collision**: Enables self collision between adjacent links. It may cause instability if the collision meshes are intersecting at the joint.
* **Create Physics Scene**: Creates a default physics scene on the stage. Because this physics scene is created outside of the scene asset, it will not be loaded into other scenes composed with the robot asset.
**Note:** It is recommended to set Self Collision to false unless you are certain that links on the robot are not self colliding
## Robot Properties
There might be many properties you want to tune on your robot. These properties can be spread across many different Schemas and APIs.
The general steps of getting and setting a parameter are:
1. Find which API is the parameter under. Most common ones can be found in the [Pixar USD API](https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/api/pxr_index.html).
2. Get the prim handle that the API is applied to. For example, Articulation and Drive APIs are applied to joints, and MassAPIs are applied to the rigid bodies.
3. Get the handle to the API. From there on, you can Get or Set the attributes associated with that API.
For example, if we want to set the wheel's drive velocity and the actuators' stiffness, we need to find the DriveAPI:
```python
# get handle to the Drive API for both wheels
left_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/left_wheel"), "angular")
right_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/right_wheel"), "angular")
# Set the velocity drive target in degrees/second
left_wheel_drive.GetTargetVelocityAttr().Set(150)
right_wheel_drive.GetTargetVelocityAttr().Set(150)
# Set the drive damping, which controls the strength of the velocity drive
left_wheel_drive.GetDampingAttr().Set(15000)
right_wheel_drive.GetDampingAttr().Set(15000)
# Set the drive stiffness, which controls the strength of the position drive
# In this case because we want to do velocity control this should be set to zero
left_wheel_drive.GetStiffnessAttr().Set(0)
right_wheel_drive.GetStiffnessAttr().Set(0)
```
Alternatively you can use the [Omniverse Commands Tool](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_kit_commands.html#isaac-sim-command-tool) to change a value in the UI and get the associated Omniverse command that changes the property.
**Note:**
- The drive stiffness parameter should be set when using position control on a joint drive.
- The drive damping parameter should be set when using velocity control on a joint drive.
- A combination of setting stiffness and damping on a drive will result in both targets being applied, this can be useful in position control to reduce vibrations.
|
NVIDIA-Omniverse/mjcf-importer-extension/index.rst | Omniverse MJCF Importer
=======================
.. mdinclude:: README.md
Extension Documentation
~~~~~~~~~~~~~~~~~~~~~~~~
.. toctree::
:maxdepth: 1
:glob:
source/extensions/omni.importer.mjcf/docs/index
source/extensions/omni.importer.mjcf/docs/Overview
source/extensions/omni.importer.mjcf/docs/CHANGELOG
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/omni-usd-resolver.packman.xml | <project toolsVersion="5.0">
<import path="../_build/target-deps/omni_usd_resolver/deps/redist.packman.xml">
<filter include="omni_client_library" />
</import>
<dependency name="omni_client_library" linkPath="../_build/target-deps/omni_client_library">
<package name="omni_client_library.${platform}" version="2.28.0" />
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/omni-physics.packman.xml | <project toolsVersion="5.0">
<!-- Import Kit SDk target-deps xml file to steal some deps from it: -->
<!-- <import path="../_build/${platform}/${config}/kit/dev/deps/target-deps.packman.xml">
<filter include="omni_physics" />
</import> -->
<!-- Pull those deps of the same version as in Kit SDK. Override linkPath to point correctly, other properties can also be override, including version. -->
<dependency name="omni_physics" linkPath="../_build/target-deps/omni_physics">
<!-- Uncomment and change the version/path below when using a custom package -->
<package name="omni_physics" version="105.1.7508-0d28bedd-${platform}-release_105.1" platforms="windows-x86_64 linux-x86_64 linux-aarch64"/>
<!-- <source path="/path/to/omni_physics" /> -->
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/repo-deps.packman.xml | <project toolsVersion="5.0">
<dependency name="repo_build" linkPath="../_repo/deps/repo_build">
<package name="repo_build" version="0.43.4" checksum="1be846e02edfc9d8590c767cf6daf722cd438ad0d1fe7c5a4ff3b8ef8a89687c" />
</dependency>
<dependency name="repo_changelog" linkPath="../_repo/deps/repo_changelog">
<package name="repo_changelog" version="0.3.2" checksum="fbe4bc4257d5aec1c964f2616257043095a9dfac8a10e027ac96aa89340f1423" />
</dependency>
<dependency name="repo_docs" linkPath="../_repo/deps/repo_docs">
<package name="repo_docs" version="0.34.0" checksum="6b3178e7f7651f837eb77c8b50a21891851f49ddc375f4686a64ace96397bbb7" />
</dependency>
<dependency name="repo_kit_tools" linkPath="../_repo/deps/repo_kit_tools">
<package name="repo_kit_tools" version="0.11.9" checksum="f1057bd05f60abd4a3dfb7f82e0364e16b68885e1ea498c9b24a9ff024266b8b" />
</dependency>
<dependency name="repo_licensing" linkPath="../_repo/deps/repo_licensing">
<package name="repo_licensing" version="1.12.0" checksum="2fa002302a776f1104896f39c8822a8c9516ef6c0ce251548b2b915979666b9d" />
</dependency>
<dependency name="repo_man" linkPath="../_repo/deps/repo_man">
<package name="repo_man" version="1.36.0" checksum="f81c449eb6fb0cf16e46554eef11fe6cc45b999feb4da062570c3e5ec40e2f1d" />
</dependency>
<dependency name="repo_package" linkPath="../_repo/deps/repo_package">
<package name="repo_package" version="5.8.8" checksum="b8279d841f7201b44d9b232b934960d9a302367be59ee64e976345854b741fec" />
</dependency>
<dependency name="repo_format" linkPath="../_repo/deps/repo_format">
<package name="repo_format" version="2.7.0" checksum="8083eb423043de585dfdfd3cf7637d7e50ba2a297abb8bebcaef4307b80503bb" />
</dependency>
<dependency name="repo_source" linkPath="../_repo/deps/repo_source">
<package name="repo_source" version="0.4.2" checksum="05776a984978d84611cb8becd5ed9c26137434e0abff6e3076f36ab354313423" />
</dependency>
<dependency name="repo_test" linkPath="../_repo/deps/repo_test">
<package name="repo_test" version="2.8.2" checksum="d70c0deeed8787712edb2d40ec159df1ceaae5fac3326da00224b55c8ad508d4" />
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/kit-sdk.packman.xml | <project toolsVersion="5.0">
<dependency name="kit_sdk_${config}" linkPath="../_build/${platform}/${config}/kit" tags="${config} non-redist">
<package name="kit-sdk" version="105.1+release.129498.98d86eae.tc.${platform}.${config}"/>
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/host-deps.packman.xml | <project toolsVersion="5.0">
<dependency name="premake" linkPath="../_build/host-deps/premake">
<package name="premake" version="5.0.0-beta2+nv1-${platform}"/>
</dependency>
<dependency name="msvc" linkPath="../_build/host-deps/msvc">
<package name="msvc" version="2019-16.7.6-license" platforms="windows-x86_64" checksum="0e37c0f29899fe10dcbef6756bcd69c2c4422a3ca1101206df272dc3d295b92d" />
</dependency>
<dependency name="winsdk" linkPath="../_build/host-deps/winsdk">
<package name="winsdk" version="10.0.18362.0-license" platforms="windows-x86_64" checksum="2db7aeb2278b79c6c9fbca8f5d72b16090b3554f52b1f3e5f1c8739c5132a3d6" />
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/kit-sdk-deps.packman.xml | <project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="carb_sdk_plugins"/>
<filter include="doctest"/>
<filter include="pybind11"/>
<filter include="python"/>
<filter include="client_library" />
<filter include="omni_usd_resolver" />
</import>
<!-- Import Physics plugins deps -->
<import path="../_build/target-deps/omni_physics/deps/target-deps.packman.xml">
<filter include="pxshared" />
<filter include="physx" />
<filter include="vhacd" />
<filter include="usd_ext_physics_${config}" />
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="carb_sdk_plugins" linkPath="../_build/target-deps/carb_sdk_plugins"/>
<dependency name="doctest" linkPath="../_build/target-deps/doctest"/>
<dependency name="pybind11" linkPath="../_build/target-deps/pybind11"/>
<dependency name="python" linkPath="../_build/target-deps/python"/>
<dependency name="client_library" linkPath="../_build/target-deps/client_library" />
<dependency name="omni_usd_resolver" linkPath="../_build/target-deps/omni_usd_resolver" />
<dependency name="pxshared" linkPath="../_build/target-deps/pxshared"/>
<dependency name="physx" linkPath="../_build/target-deps/physx" />
<dependency name="vhacd" linkPath="../_build/target-deps/vhacd" />
<dependency name="usd_ext_physics_${config}" linkPath="../_build/target-deps/usd_ext_physics/${config}" />
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/deps/ext-deps.packman.xml | <project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="boost_preprocessor"/>
<filter include="imgui"/>
<filter include="nv_usd_py310_release"/>
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="boost_preprocessor" linkPath="../_build/target-deps/boost-preprocessor"/>
<dependency name="imgui" linkPath="../_build/target-deps/imgui"/>
<dependency name="nv_usd_py310_release" linkPath="../_build/target-deps/nv_usd/release"/>
<!-- Because we always use the release kit-sdk we have to explicitly refer to the debug usd package. -->
<dependency name="nv_usd_py310_debug" linkPath="../_build/target-deps/nv_usd/debug">
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-win64_py310_debug-kit-release-integ-23-04-105-0-0" platforms="windows-x86_64" checksum="82b9d1fcd6f6d07cdff3a9b44059fb72d9ada12c5bc452c2df223f267b27035a" />
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-linux64_py310-centos_debug-kit-release-integ-23-04-105-0-0" platforms="linux-x86_64" checksum="4561794f8b4e453ff4303abca59db3a1877d97566d964ad91a790297409ee5d6"/>
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-linux-aarch64_py310_debug-kit-release-integ-23-04-105-0-0" platforms="linux-aarch64" checksum="b3c43e940fa613bd5c3fe6de7cd898e4f6304693f8d9ed76da359f04a0de8b02" />
</dependency>
<dependency name="tinyxml2" linkPath="../_build/target-deps/tinyxml2">
<package name="tinyxml2" version="linux_x64_20200823_2c5a6bf" platforms="linux-x86_64" />
<package name="tinyxml2" version="win_x64_20200824_2c5a6bf" platforms="windows-x86_64" />
</dependency>
<dependency name="assimp" linkPath="../_build/target-deps/assimp">
<package name="assimp" version="5.0.0.50.aa41375a-windows-x86_64-release" platforms="windows-x86_64"/>
<package name="assimp" version="5.0.0.50.aa41375a-linux-x86_64-release" platforms="linux-x86_64"/>
</dependency>
</project>
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/repoman/repoman.py | import contextlib
import io
import os
import sys
import packmanapi
REPO_ROOT = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../..")
REPO_DEPS_FILE = os.path.join(REPO_ROOT, "deps/repo-deps.packman.xml")
def bootstrap():
"""
Bootstrap all omni.repo modules.
Pull with packman from repo.packman.xml and add them all to python sys.path to enable importing.
"""
# with contextlib.redirect_stdout(io.StringIO()):
deps = packmanapi.pull(REPO_DEPS_FILE)
for dep_path in deps.values():
if dep_path not in sys.path:
sys.path.append(dep_path)
if __name__ == "__main__":
bootstrap()
import omni.repo.man
omni.repo.man.main(REPO_ROOT)
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/python.sh | #!/bin/bash
# Copyright 2019-2020 NVIDIA CORPORATION
# 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
# https://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.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
if [ -z "${PYTHONNOUSERSITE:-}" ]; then
export PYTHONNOUSERSITE=1
fi
# For performance, default to unbuffered; however, allow overriding via
# PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
# when printing long strings
if [ -z "${PYTHONUNBUFFERED:-}" ]; then
export PYTHONUNBUFFERED=1
fi
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" "$@"
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/python.bat | :: Copyright 2019-2020 NVIDIA CORPORATION
::
:: 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
::
:: https://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.
@echo off
setlocal enableextensions
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
if not defined PYTHONNOUSERSITE (
set PYTHONNOUSERSITE=1
)
REM For performance, default to unbuffered; however, allow overriding via
REM PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
REM when printing long strings
if not defined PYTHONUNBUFFERED (
set PYTHONUNBUFFERED=1
)
"%PM_PYTHON%" %* |
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/packmanconf.py | # Use this file to bootstrap packman into your Python environment (3.7.x). Simply
# add the path by doing sys.insert to where packmanconf.py is located and then execute:
#
# >>> import packmanconf
# >>> packmanconf.init()
#
# It will use the configured remote(s) and the version of packman in the same folder,
# giving you full access to the packman API via the following module
#
# >> import packmanapi
# >> dir(packmanapi)
import os
import platform
import sys
def init():
"""Call this function to initialize the packman configuration.
Calls to the packman API will work after successfully calling this function.
Note:
This function only needs to be called once during the execution of your
program. Calling it repeatedly is harmless but wasteful.
Compatibility with your Python interpreter is checked and upon failure
the function will report what is required.
Example:
>>> import packmanconf
>>> packmanconf.init()
>>> import packmanapi
>>> packmanapi.set_verbosity_level(packmanapi.VERBOSITY_HIGH)
"""
major = sys.version_info[0]
minor = sys.version_info[1]
if major != 3 or minor != 10:
raise RuntimeError(
f"This version of packman requires Python 3.10.x, but {major}.{minor} was provided"
)
conf_dir = os.path.dirname(os.path.abspath(__file__))
os.environ["PM_INSTALL_PATH"] = conf_dir
packages_root = get_packages_root(conf_dir)
version = get_version(conf_dir)
module_dir = get_module_dir(conf_dir, packages_root, version)
sys.path.insert(1, module_dir)
def get_packages_root(conf_dir: str) -> str:
root = os.getenv("PM_PACKAGES_ROOT")
if not root:
platform_name = platform.system()
if platform_name == "Windows":
drive, _ = os.path.splitdrive(conf_dir)
root = os.path.join(drive, "packman-repo")
elif platform_name == "Darwin":
# macOS
root = os.path.join(
os.path.expanduser("~"), "/Library/Application Support/packman-cache"
)
elif platform_name == "Linux":
try:
cache_root = os.environ["XDG_HOME_CACHE"]
except KeyError:
cache_root = os.path.join(os.path.expanduser("~"), ".cache")
return os.path.join(cache_root, "packman")
else:
raise RuntimeError(f"Unsupported platform '{platform_name}'")
# make sure the path exists:
os.makedirs(root, exist_ok=True)
return root
def get_module_dir(conf_dir, packages_root: str, version: str) -> str:
module_dir = os.path.join(packages_root, "packman-common", version)
if not os.path.exists(module_dir):
import tempfile
tf = tempfile.NamedTemporaryFile(delete=False)
target_name = tf.name
tf.close()
url = f"https://bootstrap.packman.nvidia.com/packman-common@{version}.zip"
print(f"Downloading '{url}' ...")
import urllib.request
urllib.request.urlretrieve(url, target_name)
from importlib.machinery import SourceFileLoader
# import module from path provided
script_path = os.path.join(conf_dir, "bootstrap", "install_package.py")
ip = SourceFileLoader("install_package", script_path).load_module()
print("Unpacking ...")
ip.install_package(target_name, module_dir)
os.unlink(tf.name)
return module_dir
def get_version(conf_dir: str):
path = os.path.join(conf_dir, "packman")
if not os.path.exists(path): # in dev repo fallback
path += ".sh"
with open(path, "rt", encoding="utf8") as launch_file:
for line in launch_file.readlines():
if line.startswith("PM_PACKMAN_VERSION"):
_, value = line.split("=")
return value.strip()
raise RuntimeError(f"Unable to find 'PM_PACKMAN_VERSION' in '{path}'")
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/packman.cmd | :: RUN_PM_MODULE must always be at the same spot for packman update to work (batch reloads file during update!)
:: [xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx]
:: Reset errorlevel status (don't inherit from caller)
@call :ECHO_AND_RESET_ERROR
:: You can remove this section if you do your own manual configuration of the dev machines
call :CONFIGURE
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
set PM_VAR_PATH_ARG=
if "%1"=="pull" goto :SET_VAR_PATH
if "%1"=="install" goto :SET_VAR_PATH
:RUN_PM_MODULE
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:: pad [xxxx]
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
:SET_VAR_PATH
:: Generate temporary path for variable file
for /f "delims=" %%a in ('%PM_PYTHON% -S -s -u -E -c "import tempfile;file = tempfile.NamedTemporaryFile(mode='w+t', delete=False);print(file.name)"') do (set PM_VAR_PATH=%%a)
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
goto :RUN_PM_MODULE
:CONFIGURE
:: Must capture and set code page to work around issue #279, powershell invocation mutates console font
:: This issue only happens in Windows CMD shell when using 65001 code page. Some Git Bash implementations
:: don't support chcp so this workaround is a bit convoluted.
:: Test for chcp:
chcp > nul 2>&1
if %errorlevel% equ 0 (
for /f "tokens=2 delims=:" %%a in ('chcp') do (set PM_OLD_CODE_PAGE=%%a)
) else (
call :ECHO_AND_RESET_ERROR
)
:: trim leading space (this is safe even when PM_OLD_CODE_PAGE has not been set)
set PM_OLD_CODE_PAGE=%PM_OLD_CODE_PAGE:~1%
if "%PM_OLD_CODE_PAGE%" equ "65001" (
chcp 437 > nul
set PM_RESTORE_CODE_PAGE=1
)
call "%~dp0\bootstrap\configure.bat"
set PM_CONFIG_ERRORLEVEL=%errorlevel%
if defined PM_RESTORE_CODE_PAGE (
:: Restore code page
chcp %PM_OLD_CODE_PAGE% > nul
)
set PM_OLD_CODE_PAGE=
set PM_RESTORE_CODE_PAGE=
exit /b %PM_CONFIG_ERRORLEVEL%
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/generate_temp_file_name.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
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.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/configure.bat | :: Copyright 2019-2023 NVIDIA CORPORATION
::
:: 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
::
:: https://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.
set PM_PACKMAN_VERSION=7.6
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating packman packages cache at %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.10.5-1-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic move (allowing ovewrite, /y)
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
:: Verify that python.exe is now where we expect
if exist "%PM_PYTHON%" goto PACKMAN
:: Wait a second and try again (can help with access denied weirdness)
timeout /t 1 /nobreak 1> nul
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
if %errorlevel% neq 0 (
echo !!! Error moving python %TEMP_FOLDER_NAME% -> %PM_PYTHON_DIR% !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\run.py
if exist "%PM_MODULE%" goto END
:: Clean out broken PM_MODULE_DIR if it exists
if exist "%PM_MODULE_DIR%" ( rd /s /q "%PM_MODULE_DIR%" > nul )
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: Copyright 2019 NVIDIA CORPORATION
::
:: 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
::
:: https://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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "https://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/download_file_from_url.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
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
https://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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 4
$delay = 2
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
exit 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
if ($triesLeft)
{
Write-Host "Retrying in $delay seconds ..."
Start-Sleep -seconds $delay
}
$delay = $delay * $delay
}
} while ($triesLeft -gt 0)
# We only get here if the retries have been exhausted, remove any left-overs:
if (Test-Path $fileName)
{
Remove-Item $fileName
}
exit 1 |
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/generate_temp_folder.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
NVIDIA-Omniverse/mjcf-importer-extension/tools/packman/bootstrap/install_package.py | # Copyright 2019 NVIDIA CORPORATION
# 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
# https://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.
import logging
import zipfile
import tempfile
import sys
import os
import stat
import time
from typing import Any, Callable
RENAME_RETRY_COUNT = 100
RENAME_RETRY_DELAY = 0.1
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
def remove_directory_item(path):
if os.path.islink(path) or os.path.isfile(path):
try:
os.remove(path)
except PermissionError:
# make sure we have access and try again:
os.chmod(path, stat.S_IRWXU)
os.remove(path)
else:
# try first to delete the dir because this will work for folder junctions, otherwise we would follow the junctions and cause destruction!
clean_out_folder = False
try:
# make sure we have access preemptively - this is necessary because recursing into a directory without permissions
# will only lead to heart ache
os.chmod(path, stat.S_IRWXU)
os.rmdir(path)
except OSError:
clean_out_folder = True
if clean_out_folder:
# we should make sure the directory is empty
names = os.listdir(path)
for name in names:
fullname = os.path.join(path, name)
remove_directory_item(fullname)
# now try to again get rid of the folder - and not catch if it raises:
os.rmdir(path)
class StagingDirectory:
def __init__(self, staging_path):
self.staging_path = staging_path
self.temp_folder_path = None
os.makedirs(staging_path, exist_ok=True)
def __enter__(self):
self.temp_folder_path = tempfile.mkdtemp(prefix="ver-", dir=self.staging_path)
return self
def get_temp_folder_path(self):
return self.temp_folder_path
# this function renames the temp staging folder to folder_name, it is required that the parent path exists!
def promote_and_rename(self, folder_name):
abs_dst_folder_name = os.path.join(self.staging_path, folder_name)
os.rename(self.temp_folder_path, abs_dst_folder_name)
def __exit__(self, type, value, traceback):
# Remove temp staging folder if it's still there (something went wrong):
path = self.temp_folder_path
if os.path.isdir(path):
remove_directory_item(path)
def rename_folder(staging_dir: StagingDirectory, folder_name: str):
try:
staging_dir.promote_and_rename(folder_name)
except OSError as exc:
# if we failed to rename because the folder now exists we can assume that another packman process
# has managed to update the package before us - in all other cases we re-raise the exception
abs_dst_folder_name = os.path.join(staging_dir.staging_path, folder_name)
if os.path.exists(abs_dst_folder_name):
logger.warning(
f"Directory {abs_dst_folder_name} already present, package installation already completed"
)
else:
raise
def call_with_retry(
op_name: str, func: Callable, retry_count: int = 3, retry_delay: float = 20
) -> Any:
retries_left = retry_count
while True:
try:
return func()
except (OSError, IOError) as exc:
logger.warning(f"Failure while executing {op_name} [{str(exc)}]")
if retries_left:
retry_str = "retry" if retries_left == 1 else "retries"
logger.warning(
f"Retrying after {retry_delay} seconds"
f" ({retries_left} {retry_str} left) ..."
)
time.sleep(retry_delay)
else:
logger.error("Maximum retries exceeded, giving up")
raise
retries_left -= 1
def rename_folder_with_retry(staging_dir: StagingDirectory, folder_name):
dst_path = os.path.join(staging_dir.staging_path, folder_name)
call_with_retry(
f"rename {staging_dir.get_temp_folder_path()} -> {dst_path}",
lambda: rename_folder(staging_dir, folder_name),
RENAME_RETRY_COUNT,
RENAME_RETRY_DELAY,
)
def install_package(package_path, install_path):
staging_path, version = os.path.split(install_path)
with StagingDirectory(staging_path) as staging_dir:
output_folder = staging_dir.get_temp_folder_path()
with zipfile.ZipFile(package_path, allowZip64=True) as zip_file:
zip_file.extractall(output_folder)
# attempt the rename operation
rename_folder_with_retry(staging_dir, version)
print(f"Package successfully installed to {install_path}")
if __name__ == "__main__":
executable_paths = os.getenv("PATH")
paths_list = executable_paths.split(os.path.pathsep) if executable_paths else []
target_path_np = os.path.normpath(sys.argv[2])
target_path_np_nc = os.path.normcase(target_path_np)
for exec_path in paths_list:
if os.path.normcase(os.path.normpath(exec_path)) == target_path_np_nc:
raise RuntimeError(f"packman will not install to executable path '{exec_path}'")
install_package(sys.argv[1], target_path_np)
|
NVIDIA-Omniverse/mjcf-importer-extension/PACKAGE-LICENSES/zlib-LICENSE.txt | zlib.h -- interface of the 'zlib' general purpose compression library
version 1.2.11, January 15th, 2017
Copyright (C) 1995-2017 Jean-loup Gailly and Mark Adler
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Jean-loup Gailly Mark Adler
[email protected] [email protected] |
NVIDIA-Omniverse/mjcf-importer-extension/PACKAGE-LICENSES/nv-usd-license.txt |
Modified Apache 2.0 License
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
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============================================================
RapidJSON
============================================================
Tencent is pleased to support the open source community by making RapidJSON available.
Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved.
If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License.
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A copy of the MIT License is included in this file.
Other dependencies and licenses:
Open Source Software Licensed Under the BSD License:
--------------------------------------------------------------------
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Open Source Software Licensed Under the JSON License:
--------------------------------------------------------------------
json.org
Copyright (c) 2002 JSON.org
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Terms of the JSON License:
---------------------------------------------------
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============================================================
pygilstate_check
============================================================
The MIT License (MIT)
Copyright (c) 2014, Pankaj Pandey
Permission is hereby granted, free of charge, to any person obtaining a copy
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SOFTWARE.
============================================================
double-conversion
============================================================
Copyright 2006-2011, the V8 project authors. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
============================================================
OpenEXR/IlmBase/Half
============================================================
///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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//
///////////////////////////////////////////////////////////////////////////
============================================================
Apple Technical Q&A QA1361 - Detecting the Debugger
https://developer.apple.com/library/content/qa/qa1361/_index.html
============================================================
Sample code project: Detecting the Debugger
Version: 1.0
Abstract: Shows how to determine if code is being run under the debugger.
IMPORTANT: This Apple software is supplied to you by Apple
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============================================================
LZ4
============================================================
LZ4 - Fast LZ compression algorithm
Copyright (C) 2011-present, Yann Collet.
BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
Redistribution and use in source and binary forms, with or without
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You can contact the author at :
- LZ4 homepage : http://www.lz4.org
- LZ4 source repository : https://github.com/lz4/lz4
============================================================
stb
============================================================
stb_image - v2.19 - public domain image loader - http://nothings.org/stb
no warranty implied; use at your own risk
stb_image_resize - v0.95 - public domain image resizing
by Jorge L Rodriguez (@VinoBS) - 2014
http://github.com/nothings/stb
stb_image_write - v1.09 - public domain - http://nothings.org/stb/stb_image_write.h
writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015
no warranty implied; use at your own risk
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ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
============================================================
pugixml
============================================================
MIT License
Copyright (c) 2006-2019 Arseny Kapoulkine
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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============================================================
Vulkan C++ examples and demos (dome light texture filtering)
============================================================
The MIT License (MIT)
Copyright (c) 2016 Sascha Willems
Permission is hereby granted, free of charge, to any person obtaining a copy
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
============================================================
pbrt (Hammersley Low-Discrepancy Sampling Sequence)
============================================================
Copyright (c) 1998-2015, Matt Pharr, Greg Humphreys, and Wenzel Jakob.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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============================================================
Draco
============================================================
USD bundles Draco, which is available under the Apache 2.0 license. For details,
see https://github.com/google/draco/blob/master/README.md.
============================================================
Roboto Fonts
============================================================
USD bundles Roboto fonts, which is available under the Apache 2.0 license.
For details, see https://fonts.google.com/specimen/Roboto#license
============================================================
Roboto Mono Fonts
============================================================
USD bundles Roboto Mono fonts, which is available under the Apache 2.0 license.
For details, see https://fonts.google.com/specimen/Roboto+Mono#license
============================================================
Vulkan Memory Allocator
============================================================
Copyright (c) 2017-2020 Advanced Micro Devices, Inc. All rights reserved.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
============================================================
Spirv Reflect
============================================================
Copyright 2017-2018 Google Inc.
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.
============================================================
khrplatform.h
============================================================
Copyright (c) 2008-2018 The Khronos Group Inc.
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and/or associated documentation files (the
"Materials"), to deal in the Materials without restriction, including
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CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
============================================================
surfgrad-bump-standalone-demo
============================================================
MIT License
Copyright (c) 2020 mmikk
Permission is hereby granted, free of charge, to any person obtaining a copy
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================================
Tessil robin-map
================================================================
MIT License
Copyright (c) 2017 Thibaut Goetghebuer-Planchon <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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|
NVIDIA-Omniverse/mjcf-importer-extension/PACKAGE-LICENSES/assimp-LICENSE.txt | Open Asset Import Library (assimp)
Copyright (c) 2006-2016, assimp team
All rights reserved.
Redistribution and use of this software in source and binary forms,
with or without modification, are permitted provided that the
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* Neither the name of the assimp team, nor the names of its
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************
AN EXCEPTION applies to all files in the ./test/models-nonbsd folder.
These are 3d models for testing purposes, from various free sources
on the internet. They are - unless otherwise stated - copyright of
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============================================================
pygilstate_check
============================================================
The MIT License (MIT)
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============================================================
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============================================================
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============================================================
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///////////////////////////////////////////////////////////////////////////
============================================================
Apple Technical Q&A QA1361 - Detecting the Debugger
https://developer.apple.com/library/content/qa/qa1361/_index.html
============================================================
Sample code project: Detecting the Debugger
Version: 1.0
Abstract: Shows how to determine if code is being run under the debugger.
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============================================================
LZ4
============================================================
LZ4 - Fast LZ compression algorithm
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============================================================
stb
============================================================
stb_image - v2.19 - public domain image loader - http://nothings.org/stb
no warranty implied; use at your own risk
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-----
Bullet Continuous Collision Detection and Physics Library
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-----
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In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
-----
Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
-----
Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-----
Copyright (c) 2009 by John W. Ratcliff mailto:[email protected]
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished
to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/premake5.lua | function include_physx()
defines { "PX_PHYSX_STATIC_LIB"}
filter { "system:windows" }
libdirs { "%{root}/_build/target-deps/nvtx/lib/x64" }
filter {}
filter { "system:linux" }
libdirs { "%{root}/_build/target-deps/nvtx/lib64" }
filter {}
filter { "configurations:debug" }
defines { "_DEBUG" }
filter { "configurations:release" }
defines { "NDEBUG" }
filter {}
filter { "system:windows", "platforms:x86_64", "configurations:debug" }
libdirs {
"%{root}/_build/target-deps/physx/bin/win.x86_64.vc142.md/debug",
}
filter { "system:windows", "platforms:x86_64", "configurations:release" }
libdirs {
"%{root}/_build/target-deps/physx/bin/win.x86_64.vc142.md/checked",
}
filter {}
filter { "system:linux", "platforms:x86_64","configurations:debug" }
libdirs {
"%{root}/_build/target-deps/physx/bin/linux.clang/debug",
}
filter { "system:linux", "platforms:x86_64","configurations:release" }
libdirs {
"%{root}/_build/target-deps/physx/bin/linux.clang/checked",
}
filter {}
links { "PhysXExtensions_static_64", "PhysX_static_64", "PhysXPvdSDK_static_64","PhysXCooking_static_64","PhysXCommon_static_64", "PhysXFoundation_static_64", "PhysXVehicle_static_64"}
includedirs {
"%{root}/_build/target-deps/physx/include",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/include",
}
end
local ext = get_current_extension_info()
project_ext (ext)
-- C++ Carbonite plugin
project_ext_plugin(ext, "omni.importer.mjcf.plugin")
symbols "On"
exceptionhandling "On"
rtti "On"
staticruntime "On"
flags { "FatalCompileWarnings", "MultiProcessorCompile", "NoPCH", "NoIncrementalLink" }
removeflags { "FatalCompileWarnings", "UndefinedIdentifiers" }
add_files("impl", "plugins")
include_physx()
includedirs {
"%{root}/_build/target-deps/pybind11/include",
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/include",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/include",
"%{root}/_build/target-deps/assimp/include",
"%{root}/_build/target-deps/python/include",
"%{root}/_build/target-deps/tinyxml2/include",
"%{root}/_build/target-deps/omni_client_library/include",
}
libdirs {
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/lib",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/lib",
"%{root}/_build/target-deps/tinyxml2/lib",
"%{root}/_build/target-deps/assimp/lib64",
"%{root}/_build/target-deps/omni_client_library/%{cfg.buildcfg}",
"%{kit_sdk_bin_dir}/exts/omni.usd.core/bin"
}
links {
"gf", "tf", "sdf", "vt","usd", "usdGeom", "usdUtils", "usdShade", "usdImaging",
"usdPhysics", "physicsSchemaTools", "physxSchema", "omni.usd", "tinyxml2", "assimp", "tbb", "omniclient"
}
if os.target() == "linux" then
includedirs {
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/include/boost",
"%{root}/_build/target-deps/python/include/python3.10",
}
libdirs {
"%{root}/_build/target-deps/assimp/lib64",
}
links {
"stdc++fs"
}
else
filter { "system:windows", "platforms:x86_64" }
link_boost_for_windows({"boost_python310"})
filter {}
libdirs {
"%{root}/_build/target-deps/tbb/lib/intel64/vc14",
"%{root}/_build/target-deps/assimp/lib",
}
end
-- Python Bindings for Carobnite Plugin
project_ext_bindings {
ext = ext,
project_name = "omni.importer.mjcf.python",
module = "_mjcf",
src = "bindings",
target_subdir = "omni/importer/mjcf"
}
repo_build.prebuild_link {
{ "python/scripts", ext.target_dir.."/omni/importer/mjcf/scripts" },
{ "python/tests", ext.target_dir.."/omni/importer/mjcf/tests" },
{ "docs", ext.target_dir.."/docs" },
{ "data", ext.target_dir.."/data" },
}
if os.target() == "linux" then
repo_build.prebuild_copy {
{ "%{root}/_build/target-deps/assimp/lib64/lib**", ext.target_dir.."/bin" },
{ "%{root}/_build/target-deps/tinyxml2/lib/lib**", ext.target_dir.."/bin" },
}
else
repo_build.prebuild_copy {
{ "%{root}/_build/target-deps/assimp/bin/*.dll", ext.target_dir.."/bin" },
{ "%{root}/_build/target-deps/tinyxml2/bin/*.dll", ext.target_dir.."/bin" },
}
end
repo_build.prebuild_copy {
{ "python/*.py", ext.target_dir.."/omni/importer/mjcf" },
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/PACKAGE-LICENSES/omni-mjcf-importer-LICENSE.txt | SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
SPDX-License-Identifier: Apache-2.0
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. |
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from .scripts.commands import *
from .scripts.extension import *
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/scripts/style.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
import carb.settings
import omni.ui as ui
from omni.kit.window.extensions.common import get_icons_path
# Pilaged from omni.kit.widnow.property style.py
LABEL_WIDTH = 120
BUTTON_WIDTH = 120
HORIZONTAL_SPACING = 4
VERTICAL_SPACING = 5
COLOR_X = 0xFF5555AA
COLOR_Y = 0xFF76A371
COLOR_Z = 0xFFA07D4F
COLOR_W = 0xFFAA5555
def get_style():
icons_path = get_icons_path()
KIT_GREEN = 0xFF8A8777
KIT_GREEN_CHECKBOX = 0xFF9A9A9A
BORDER_RADIUS = 1.5
FONT_SIZE = 14.0
TOOLTIP_STYLE = (
{
"background_color": 0xFFD1F7FF,
"color": 0xFF333333,
"margin_width": 0,
"margin_height": 0,
"padding": 0,
"border_width": 0,
"border_radius": 1.5,
"border_color": 0x0,
},
)
style_settings = carb.settings.get_settings().get("/persistent/app/window/uiStyle")
if not style_settings:
style_settings = "NvidiaDark"
if style_settings == "NvidiaLight":
WINDOW_BACKGROUND_COLOR = 0xFF444444
BUTTON_BACKGROUND_COLOR = 0xFF545454
BUTTON_BACKGROUND_HOVERED_COLOR = 0xFF9E9E9E
BUTTON_BACKGROUND_PRESSED_COLOR = 0xC22A8778
BUTTON_LABEL_DISABLED_COLOR = 0xFF606060
FRAME_TEXT_COLOR = 0xFF545454
FIELD_BACKGROUND = 0xFF545454
FIELD_SECONDARY = 0xFFABABAB
FIELD_TEXT_COLOR = 0xFFD6D6D6
FIELD_TEXT_COLOR_READ_ONLY = 0xFF9C9C9C
FIELD_TEXT_COLOR_HIDDEN = 0x01000000
COLLAPSABLEFRAME_BORDER_COLOR = 0x0
COLLAPSABLEFRAME_BACKGROUND_COLOR = 0x7FD6D6D6
COLLAPSABLEFRAME_TEXT_COLOR = 0xFF545454
COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR = 0xFFC9C9C9
COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR = 0xFFD6D6D6
COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR = 0xFFCCCFBF
COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR = 0xFF2E2E2B
COLLAPSABLEFRAME_HOVERED_SECONDARY_COLOR = 0xFFD6D6D6
COLLAPSABLEFRAME_PRESSED_SECONDARY_COLOR = 0xFFE6E6E6
LABEL_VECTORLABEL_COLOR = 0xFFDDDDDD
LABEL_MIXED_COLOR = 0xFFD6D6D6
LIGHT_FONT_SIZE = 14.0
LIGHT_BORDER_RADIUS = 3
style = {
"Window": {"background_color": WINDOW_BACKGROUND_COLOR},
"Button": {"background_color": BUTTON_BACKGROUND_COLOR, "margin": 0, "padding": 3, "border_radius": 2},
"Button:hovered": {"background_color": BUTTON_BACKGROUND_HOVERED_COLOR},
"Button:pressed": {"background_color": BUTTON_BACKGROUND_PRESSED_COLOR},
"Button.Label:disabled": {"color": 0xFFD6D6D6},
"Button.Label": {"color": 0xFFD6D6D6},
"Field::models": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"secondary_color": FIELD_SECONDARY,
},
"Field::models_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"Field::models_readonly": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_READ_ONLY,
"border_radius": LIGHT_BORDER_RADIUS,
"secondary_color": FIELD_SECONDARY,
},
"Field::models_readonly_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"Field::models:pressed": {"background_color": 0xFFCECECE},
"Field": {"background_color": 0xFF535354, "color": 0xFFCCCCCC},
"Label": {"font_size": 12, "color": FRAME_TEXT_COLOR},
"Label::label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Label::label": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::title": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::mixed_overlay": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::mixed_overlay_normal": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"ComboBox::choices": {
"font_size": 12,
"color": 0xFFD6D6D6,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox::xform_op": {
"font_size": 10,
"color": 0xFF333333,
"background_color": 0xFF9C9C9C,
"secondary_color": 0x0,
"selected_color": 0xFFACACAF,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox::xform_op:hovered": {"background_color": 0x0},
"ComboBox::xform_op:selected": {"background_color": 0xFF545454},
"ComboBox": {
"font_size": 10,
"color": 0xFFE6E6E6,
"background_color": 0xFF545454,
"secondary_color": 0xFF545454,
"selected_color": 0xFFACACAF,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
# "ComboBox": {"background_color": 0xFF535354, "selected_color": 0xFFACACAF, "color": 0xFFD6D6D6},
"ComboBox:hovered": {"background_color": 0xFF545454},
"ComboBox:selected": {"background_color": 0xFF545454},
"ComboBox::choices_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": 0xFFD6D6D6,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox:hovered:choices": {"background_color": FIELD_BACKGROUND, "secondary_color": FIELD_BACKGROUND},
"Slider": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.FILLED,
},
"Slider::value": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR, # COLLAPSABLEFRAME_TEXT_COLOR
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
},
"Slider::value_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
},
"Slider::multivalue": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Slider::multivalue_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Checkbox": {
"margin": 0,
"padding": 0,
"radius": 0,
"font_size": 10,
"background_color": 0xFFA8A8A8,
"background_color": 0xFFA8A8A8,
},
"CheckBox::greenCheck": {"font_size": 10, "background_color": KIT_GREEN, "color": 0xFF23211F},
"CheckBox::greenCheck_mixed": {
"font_size": 10,
"background_color": KIT_GREEN,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"CollapsableFrame": {
"background_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"color": COLLAPSABLEFRAME_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"border_color": 0x0,
"border_width": 1,
"font_size": LIGHT_FONT_SIZE,
"padding": 6,
"Tooltip": TOOLTIP_STYLE,
},
"CollapsableFrame::groupFrame": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"padding": 6,
},
"CollapsableFrame::groupFrame:hovered": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::groupFrame:pressed": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:hovered": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:pressed": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR,
},
"CollapsableFrame.Header": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FRAME_TEXT_COLOR,
"color": FRAME_TEXT_COLOR,
},
"CollapsableFrame:hovered": {"secondary_color": COLLAPSABLEFRAME_HOVERED_SECONDARY_COLOR},
"CollapsableFrame:pressed": {"secondary_color": COLLAPSABLEFRAME_PRESSED_SECONDARY_COLOR},
"ScrollingFrame": {"margin": 0, "padding": 3, "border_radius": LIGHT_BORDER_RADIUS},
"TreeView": {
"background_color": 0xFFE0E0E0,
"background_selected_color": 0x109D905C,
"secondary_color": 0xFFACACAC,
},
"TreeView.ScrollingFrame": {"background_color": 0xFFE0E0E0},
"TreeView.Header": {"color": 0xFFCCCCCC},
"TreeView.Header::background": {
"background_color": 0xFF535354,
"border_color": 0xFF707070,
"border_width": 0.5,
},
"TreeView.Header::columnname": {"margin": 3},
"TreeView.Image::object_icon_grey": {"color": 0x80FFFFFF},
"TreeView.Item": {"color": 0xFF535354, "font_size": 16},
"TreeView.Item::object_name": {"margin": 3},
"TreeView.Item::object_name_grey": {"color": 0xFFACACAC},
"TreeView.Item::object_name_missing": {"color": 0xFF6F72FF},
"TreeView.Item:selected": {"color": 0xFF2A2825},
"TreeView:selected": {"background_color": 0x409D905C},
"Label::vector_label": {"font_size": 14, "color": LABEL_VECTORLABEL_COLOR},
"Rectangle::vector_label": {"border_radius": BORDER_RADIUS * 2, "corner_flag": ui.CornerFlag.LEFT},
"Rectangle::mixed_overlay": {
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"border_width": 3,
},
"Rectangle": {
"border_radius": LIGHT_BORDER_RADIUS,
"color": 0xFFC2C2C2,
"background_color": 0xFFC2C2C2,
}, # FIELD_BACKGROUND},
"Rectangle::xform_op:hovered": {"background_color": 0x0},
"Rectangle::xform_op": {"background_color": 0x0},
# text remove
"Button::remove": {"background_color": FIELD_BACKGROUND, "margin": 0},
"Button::remove:hovered": {"background_color": FIELD_BACKGROUND},
"Button::options": {"background_color": 0x0, "margin": 0},
"Button.Image::options": {"image_url": f"{icons_path}/options.svg", "color": 0xFF989898},
"Button.Image::options:hovered": {"color": 0xFFC2C2C2},
"IconButton": {"margin": 0, "padding": 0, "background_color": 0x0},
"IconButton:hovered": {"background_color": 0x0},
"IconButton:checked": {"background_color": 0x0},
"IconButton:pressed": {"background_color": 0x0},
"IconButton.Image": {"color": 0xFFA8A8A8},
"IconButton.Image:hovered": {"color": 0xFF929292},
"IconButton.Image:pressed": {"color": 0xFFA4A4A4},
"IconButton.Image:checked": {"color": 0xFFFFFFFF},
"IconButton.Tooltip": {"color": 0xFF9E9E9E},
"IconButton.Image::OpenFolder": {
"image_url": f"{icons_path}/open-folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenConfig": {
"image_url": f"{icons_path}/open-config.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenLink": {
"image_url": "resources/glyphs/link.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenDocs": {
"image_url": "resources/glyphs/docs.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::CopyToClipboard": {
"image_url": "resources/glyphs/copy.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Export": {
"image_url": f"{icons_path}/export.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Sync": {
"image_url": "resources/glyphs/sync.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Upload": {
"image_url": "resources/glyphs/upload.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::FolderPicker": {
"image_url": "resources/glyphs/folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"ItemButton": {"padding": 2, "background_color": 0xFF444444, "border_radius": 4},
"ItemButton.Image::add": {"image_url": f"{icons_path}/plus.svg", "color": 0xFF06C66B},
"ItemButton.Image::remove": {"image_url": f"{icons_path}/trash.svg", "color": 0xFF1010C6},
"ItemButton:hovered": {"background_color": 0xFF333333},
"ItemButton:pressed": {"background_color": 0xFF222222},
"Tooltip": TOOLTIP_STYLE,
}
else:
LABEL_COLOR = 0xFF8F8E86
FIELD_BACKGROUND = 0xFF23211F
FIELD_TEXT_COLOR = 0xFFD5D5D5
FIELD_TEXT_COLOR_READ_ONLY = 0xFF5C5C5C
FIELD_TEXT_COLOR_HIDDEN = 0x01000000
FRAME_TEXT_COLOR = 0xFFCCCCCC
WINDOW_BACKGROUND_COLOR = 0xFF444444
BUTTON_BACKGROUND_COLOR = 0xFF292929
BUTTON_BACKGROUND_HOVERED_COLOR = 0xFF9E9E9E
BUTTON_BACKGROUND_PRESSED_COLOR = 0xC22A8778
BUTTON_LABEL_DISABLED_COLOR = 0xFF606060
LABEL_LABEL_COLOR = 0xFF9E9E9E
LABEL_TITLE_COLOR = 0xFFAAAAAA
LABEL_MIXED_COLOR = 0xFFE6B067
LABEL_VECTORLABEL_COLOR = 0xFFDDDDDD
COLORWIDGET_BORDER_COLOR = 0xFF1E1E1E
COMBOBOX_HOVERED_BACKGROUND_COLOR = 0xFF33312F
COLLAPSABLEFRAME_BORDER_COLOR = 0x0
COLLAPSABLEFRAME_BACKGROUND_COLOR = 0xFF343432
COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR = 0xFF23211F
COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR = 0xFF343432
COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR = 0xFF2E2E2B
COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR = 0xFF2E2E2B
style = {
"Window": {"background_color": WINDOW_BACKGROUND_COLOR},
"Button": {"background_color": BUTTON_BACKGROUND_COLOR, "margin": 0, "padding": 3, "border_radius": 2},
"Button:hovered": {"background_color": BUTTON_BACKGROUND_HOVERED_COLOR},
"Button:pressed": {"background_color": BUTTON_BACKGROUND_PRESSED_COLOR},
"Button.Label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Field::models": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"Field::models_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"Field::models_readonly": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_READ_ONLY,
"border_radius": BORDER_RADIUS,
},
"Field::models_readonly_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"Label": {"font_size": FONT_SIZE, "color": LABEL_COLOR},
"Label::label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"Label::label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Label::title": {"font_size": FONT_SIZE, "color": LABEL_TITLE_COLOR},
"Label::mixed_overlay": {"font_size": FONT_SIZE, "color": LABEL_MIXED_COLOR},
"Label::mixed_overlay_normal": {"font_size": FONT_SIZE, "color": FIELD_TEXT_COLOR},
"Label::path_label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"Label::stage_label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"ComboBox::choices": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"ComboBox::choices_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"ComboBox:hovered:choices": {
"background_color": COMBOBOX_HOVERED_BACKGROUND_COLOR,
"secondary_color": COMBOBOX_HOVERED_BACKGROUND_COLOR,
},
"Slider": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.FILLED,
},
"Slider::value": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
},
"Slider::value_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
},
"Slider::multivalue": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Slider::multivalue_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"CheckBox::greenCheck": {
"font_size": 12,
"background_color": KIT_GREEN_CHECKBOX,
"color": FIELD_BACKGROUND,
"border_radius": BORDER_RADIUS,
},
"CheckBox::greenCheck_mixed": {
"font_size": 12,
"background_color": KIT_GREEN_CHECKBOX,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"CollapsableFrame": {
"background_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"border_color": COLLAPSABLEFRAME_BORDER_COLOR,
"border_width": 1,
"padding": 6,
},
"CollapsableFrame::groupFrame": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"padding": 6,
},
"CollapsableFrame::groupFrame:hovered": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::groupFrame:pressed": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:hovered": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:pressed": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR,
},
"CollapsableFrame.Header": {
"font_size": FONT_SIZE,
"background_color": FRAME_TEXT_COLOR,
"color": FRAME_TEXT_COLOR,
},
"CollapsableFrame:hovered": {"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR},
"CollapsableFrame:pressed": {"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR},
"ScrollingFrame": {"margin": 0, "padding": 3, "border_radius": BORDER_RADIUS},
"TreeView": {
"background_color": 0xFF23211F,
"background_selected_color": 0x664F4D43,
"secondary_color": 0xFF403B3B,
},
"TreeView.ScrollingFrame": {"background_color": 0xFF23211F},
"TreeView.Header": {"background_color": 0xFF343432, "color": 0xFFCCCCCC, "font_size": 12},
"TreeView.Image::object_icon_grey": {"color": 0x80FFFFFF},
"TreeView.Image:disabled": {"color": 0x60FFFFFF},
"TreeView.Item": {"color": 0xFF8A8777},
"TreeView.Item:disabled": {"color": 0x608A8777},
"TreeView.Item::object_name_grey": {"color": 0xFF4D4B42},
"TreeView.Item::object_name_missing": {"color": 0xFF6F72FF},
"TreeView.Item:selected": {"color": 0xFF23211F},
"TreeView:selected": {"background_color": 0xFF8A8777},
"ColorWidget": {
"border_radius": BORDER_RADIUS,
"border_color": COLORWIDGET_BORDER_COLOR,
"border_width": 0.5,
},
"Label::vector_label": {"font_size": 16, "color": LABEL_VECTORLABEL_COLOR},
"PlotLabel::X": {"color": 0xFF1515EA, "background_color": 0x0},
"PlotLabel::Y": {"color": 0xFF5FC054, "background_color": 0x0},
"PlotLabel::Z": {"color": 0xFFC5822A, "background_color": 0x0},
"PlotLabel::W": {"color": 0xFFAA5555, "background_color": 0x0},
"Rectangle::vector_label": {"border_radius": BORDER_RADIUS * 2, "corner_flag": ui.CornerFlag.LEFT},
"Rectangle::mixed_overlay": {
"border_radius": BORDER_RADIUS,
"background_color": LABEL_MIXED_COLOR,
"border_width": 3,
},
"Rectangle": {
"border_radius": BORDER_RADIUS,
"background_color": FIELD_TEXT_COLOR_READ_ONLY,
}, # FIELD_BACKGROUND},
"Rectangle::xform_op:hovered": {"background_color": 0xFF444444},
"Rectangle::xform_op": {"background_color": 0xFF333333},
# text remove
"Button::remove": {"background_color": FIELD_BACKGROUND, "margin": 0},
"Button::remove:hovered": {"background_color": FIELD_BACKGROUND},
"Button::options": {"background_color": 0x0, "margin": 0},
"Button.Image::options": {"image_url": f"{icons_path}/options.svg", "color": 0xFF989898},
"Button.Image::options:hovered": {"color": 0xFFC2C2C2},
"IconButton": {"margin": 0, "padding": 0, "background_color": 0x0},
"IconButton:hovered": {"background_color": 0x0},
"IconButton:checked": {"background_color": 0x0},
"IconButton:pressed": {"background_color": 0x0},
"IconButton.Image": {"color": 0xFFA8A8A8},
"IconButton.Image:hovered": {"color": 0xFFC2C2C2},
"IconButton.Image:pressed": {"color": 0xFFA4A4A4},
"IconButton.Image:checked": {"color": 0xFFFFFFFF},
"IconButton.Tooltip": {"color": 0xFF9E9E9E},
"IconButton.Image::OpenFolder": {
"image_url": f"{icons_path}/open-folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenConfig": {
"tooltip": TOOLTIP_STYLE,
"image_url": f"{icons_path}/open-config.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::OpenLink": {
"image_url": "resources/glyphs/link.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenDocs": {
"image_url": "resources/glyphs/docs.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::CopyToClipboard": {
"image_url": "resources/glyphs/copy.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Export": {
"image_url": f"{icons_path}/export.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Sync": {
"image_url": "resources/glyphs/sync.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Upload": {
"image_url": "resources/glyphs/upload.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::FolderPicker": {
"image_url": "resources/glyphs/folder.svg",
"background_color": 0x0,
"color": 0xFF929292,
},
"ItemButton": {"padding": 2, "background_color": 0xFF444444, "border_radius": 4},
"ItemButton.Image::add": {"image_url": f"{icons_path}/plus.svg", "color": 0xFF06C66B},
"ItemButton.Image::remove": {"image_url": f"{icons_path}/trash.svg", "color": 0xFF1010C6},
"ItemButton:hovered": {"background_color": 0xFF333333},
"ItemButton:pressed": {"background_color": 0xFF222222},
"Tooltip": TOOLTIP_STYLE,
}
return style
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/scripts/commands.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
import os
import omni.client
import omni.kit.commands
# import omni.kit.utils
from omni.client._omniclient import Result
from omni.importer.mjcf import _mjcf
from pxr import Usd
class MJCFCreateImportConfig(omni.kit.commands.Command):
"""
Returns an ImportConfig object that can be used while parsing and importing.
Should be used with the `MJCFCreateAsset` command
Returns:
:obj:`omni.importer.mjcf._mjcf.ImportConfig`: Parsed MJCF stored in an internal structure.
"""
def __init__(self) -> None:
pass
def do(self) -> _mjcf.ImportConfig:
return _mjcf.ImportConfig()
def undo(self) -> None:
pass
class MJCFCreateAsset(omni.kit.commands.Command):
"""
This command parses and imports a given mjcf file.
Args:
arg0 (:obj:`str`): The absolute path the mjcf file
arg1 (:obj:`omni.importer.mjcf._mjcf.ImportConfig`): Import configuration
arg2 (:obj:`str`): Path to the robot on the USD stage
arg3 (:obj:`str`): destination path for robot usd. Default is "" which will load the robot in-memory on the open stage.
"""
def __init__(
self, mjcf_path: str = "", import_config=_mjcf.ImportConfig(), prim_path: str = "", dest_path: str = ""
) -> None:
self.prim_path = prim_path
self.dest_path = dest_path
self._mjcf_path = mjcf_path
self._root_path, self._filename = os.path.split(os.path.abspath(self._mjcf_path))
self._import_config = import_config
self._mjcf_interface = _mjcf.acquire_mjcf_interface()
pass
def do(self) -> str:
# if self.prim_path:
# self.prim_path = self.prim_path.replace(
# "\\", "/"
# ) # Omni client works with both slashes cross platform, making it standard to make it easier later on
if self.dest_path:
self.dest_path = self.dest_path.replace(
"\\", "/"
) # Omni client works with both slashes cross platform, making it standard to make it easier later on
result = omni.client.read_file(self.dest_path)
if result[0] != Result.OK:
stage = Usd.Stage.CreateNew(self.dest_path)
stage.Save()
return self._mjcf_interface.create_asset_mjcf(
self._mjcf_path, self.prim_path, self._import_config, self.dest_path
)
def undo(self) -> None:
pass
omni.kit.commands.register_all_commands_in_module(__name__)
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/scripts/extension.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
import asyncio
import gc
import os
import weakref
import carb
import omni.client
import omni.ext
import omni.ui as ui
from omni.client._omniclient import Result
from omni.importer.mjcf import _mjcf
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from omni.kit.window.filepicker import FilePickerDialog
from pxr import Sdf, Usd, UsdGeom, UsdPhysics
# from omni.isaac.ui.menu import make_menu_item_description
from .ui_utils import (
btn_builder,
cb_builder,
dropdown_builder,
float_builder,
str_builder,
)
EXTENSION_NAME = "MJCF Importer"
import omni.ext
from omni.kit.menu.utils import MenuItemDescription
def make_menu_item_description(ext_id: str, name: str, onclick_fun, action_name: str = "") -> None:
"""Easily replace the onclick_fn with onclick_action when creating a menu description
Args:
ext_id (str): The extension you are adding the menu item to.
name (str): Name of the menu item displayed in UI.
onclick_fun (Function): The function to run when clicking the menu item.
action_name (str): name for the action, in case ext_id+name don't make a unique string
Note:
ext_id + name + action_name must concatenate to a unique identifier.
"""
# TODO, fix errors when reloading extensions
# action_unique = f'{ext_id.replace(" ", "_")}{name.replace(" ", "_")}{action_name.replace(" ", "_")}'
# action_registry = omni.kit.actions.core.get_action_registry()
# action_registry.register_action(ext_id, action_unique, onclick_fun)
return MenuItemDescription(name=name, onclick_fn=onclick_fun)
def is_mjcf_file(path: str):
_, ext = os.path.splitext(path.lower())
return ext == ".xml"
def on_filter_item(item) -> bool:
if not item or item.is_folder:
return not (item.name == "Omniverse" or item.path.startswith("omniverse:"))
return is_mjcf_file(item.path)
class Extension(omni.ext.IExt):
def on_startup(self, ext_id):
self._mjcf_interface = _mjcf.acquire_mjcf_interface()
self._usd_context = omni.usd.get_context()
self._window = omni.ui.Window(
EXTENSION_NAME, width=600, height=400, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
self._window.deferred_dock_in("Console", omni.ui.DockPolicy.DO_NOTHING)
self._window.set_visibility_changed_fn(self._on_window)
menu_items = [
make_menu_item_description(ext_id, EXTENSION_NAME, lambda a=weakref.proxy(self): a._menu_callback())
]
self._menu_items = [MenuItemDescription(name="Workflows", sub_menu=menu_items)]
add_menu_items(self._menu_items, "Isaac Utils")
self._models = {}
result, self._config = omni.kit.commands.execute("MJCFCreateImportConfig")
self._filepicker = None
self._last_folder = None
self._content_browser = None
self._extension_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(ext_id)
self._imported_robot = None
# Set defaults
# self._config.set_merge_fixed_joints(False)
# self._config.set_convex_decomp(False)
self._config.set_fix_base(False)
self._config.set_import_inertia_tensor(False)
self._config.set_distance_scale(1.0)
self._config.set_density(0.0)
# self._config.set_default_drive_type(1)
# self._config.set_default_drive_strength(1e7)
# self._config.set_default_position_drive_damping(1e5)
self._config.set_self_collision(False)
self._config.set_make_default_prim(True)
self._config.set_create_physics_scene(True)
self._config.set_import_sites(True)
self._config.set_visualize_collision_geoms(True)
def build_ui(self):
with self._window.frame:
with ui.VStack(spacing=20, height=0):
with ui.HStack(spacing=10):
with ui.VStack(spacing=2, height=0):
# cb_builder(
# label="Merge Fixed Joints",
# tooltip="Check this box to skip adding articulation on fixed joints",
# on_clicked_fn=lambda m, config=self._config: config.set_merge_fixed_joints(m),
# )
cb_builder(
"Fix Base Link",
tooltip="If true, enables the fix base property on the root of the articulation.",
default_val=False,
on_clicked_fn=lambda m, config=self._config: config.set_fix_base(m),
)
cb_builder(
"Import Inertia Tensor",
tooltip="If True, inertia will be loaded from mjcf, if the mjcf does not specify inertia tensor, identity will be used and scaled by the scaling factor. If false physx will compute automatically",
on_clicked_fn=lambda m, config=self._config: config.set_import_inertia_tensor(m),
)
cb_builder(
"Import Sites",
tooltip="If True, sites will be imported from mjcf.",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_import_sites(m),
)
cb_builder(
"Visualize Collision Geoms",
tooltip="If True, collision geoms will also be imported as visual geoms",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_visualize_collision_geoms(m),
)
self._models["scale"] = float_builder(
"Stage Units Per Meter",
default_val=1.0,
tooltip="[1.0 / stage_units] Set the distance units the robot is imported as, default is 1.0 corresponding to m",
)
self._models["scale"].add_value_changed_fn(
lambda m, config=self._config: config.set_distance_scale(m.get_value_as_float())
)
self._models["density"] = float_builder(
"Link Density",
default_val=0.0,
tooltip="[kg/stage_units^3] If a link doesn't have mass, use this density as backup, A density of 0.0 results in the physics engine automatically computing a default density",
)
self._models["density"].add_value_changed_fn(
lambda m, config=self._config: config.set_density(m.get_value_as_float())
)
# dropdown_builder(
# "Joint Drive Type",
# items=["None", "Position", "Velocity"],
# default_val=1,
# on_clicked_fn=lambda i, config=self._config: i,
# #config.set_default_drive_type(0 if i == "None" else (1 if i == "Position" else 2)
# tooltip="Set the default drive configuration, None: stiffness and damping are zero, Position/Velocity: use default specified below.",
# )
# self._models["drive_strength"] = float_builder(
# "Joint Drive Strength",
# default_val=1e7,
# tooltip="Corresponds to stiffness for position or damping for velocity, set to -1 to prevent this value from getting used",
# )
# self._models["drive_strength"].add_value_changed_fn(
# lambda m, config=self._config: m
# # config.set_default_drive_strength(m.get_value_as_float())
# )
# self._models["position_drive_damping"] = float_builder(
# "Joint Position Drive Damping",
# default_val=1e5,
# tooltip="If the drive type is set to position, this will be used as a default damping for the drive, set to -1 to prevent this from getting used",
# )
# self._models["position_drive_damping"].add_value_changed_fn(
# lambda m, config=self._config: m
# #config.set_default_position_drive_damping(m.get_value_as_float()
# )
with ui.VStack(spacing=2, height=0):
self._models["clean_stage"] = cb_builder(
label="Clean Stage", tooltip="Check this box to load MJCF on a clean stage"
)
# cb_builder(
# "Convex Decomposition",
# tooltip="If true, non-convex meshes will be decomposed into convex collision shapes, if false a convex hull will be used.",
# on_clicked_fn=lambda m, config=self._config: config.set_convex_decomp(m),
# )
cb_builder(
"Self Collision",
tooltip="If true, allows self intersection between links in the robot, can cause instability if collision meshes between links are self intersecting",
on_clicked_fn=lambda m, config=self._config: config.set_self_collision(m),
)
cb_builder(
"Create Physics Scene",
tooltip="If true, creates a default physics scene if one does not already exist in the stage",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_create_physics_scene(m),
),
cb_builder(
"Make Default Prim",
tooltip="If true, makes imported robot the default prim for the stage",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_make_default_prim(m),
)
cb_builder(
"Create Instanceable Asset",
tooltip="If true, creates an instanceable version of the asset. Meshes will be saved in a separate USD file",
default_val=False,
on_clicked_fn=lambda m, config=self._config: config.set_make_instanceable(m),
)
self._models["instanceable_usd_path"] = str_builder(
"Instanceable USD Path",
tooltip="USD file to store instanceable meshes in",
default_val="./instanceable_meshes.usd",
use_folder_picker=True,
folder_dialog_title="Select Output File",
folder_button_title="Select File",
)
self._models["instanceable_usd_path"].add_value_changed_fn(
lambda m, config=self._config: config.set_instanceable_usd_path(m.get_value_as_string())
)
with ui.VStack(height=0):
with ui.HStack(spacing=20):
btn_builder("Import MJCF", text="Select and Import", on_clicked_fn=self._parse_mjcf)
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_window(self, visible):
if self._window.visible:
self.build_ui()
self._events = self._usd_context.get_stage_event_stream()
else:
self._events = None
self._stage_event_sub = None
def _refresh_filebrowser(self):
parent = None
selection_name = None
if len(self._filebrowser.get_selections()):
parent = self._filebrowser.get_selections()[0].parent
selection_name = self._filebrowser.get_selections()[0].name
self._filebrowser.refresh_ui(parent)
if selection_name:
selection = [child for child in parent.children.values() if child.name == selection_name]
if len(selection):
self._filebrowser.select_and_center(selection[0])
def _parse_mjcf(self):
self._filepicker = FilePickerDialog(
"Import MJCF",
allow_multi_selection=False,
apply_button_label="Import",
click_apply_handler=lambda filename, path, c=weakref.proxy(self): c._select_picked_file_callback(
self._filepicker, filename, path
),
click_cancel_handler=lambda a, b, c=weakref.proxy(self): c._filepicker.hide(),
item_filter_fn=on_filter_item,
enable_versioning_pane=True,
)
if self._last_folder:
self._filepicker.set_current_directory(self._last_folder)
self._filepicker.navigate_to(self._last_folder)
self._filepicker.refresh_current_directory()
self._filepicker.toggle_bookmark_from_path("Built In MJCF Files", (self._extension_path + "/data/mjcf"), True)
self._filepicker.show()
def _load_robot(self, path=None):
if path:
base_path = path[: path.rfind("/")]
basename = path[path.rfind("/") + 1 :]
basename = basename[: basename.rfind(".")]
if path.rfind("/") < 0:
base_path = path[: path.rfind("\\")]
basename = path[path.rfind("\\") + 1]
# sanitize basename
if basename[0].isdigit():
basename = "_" + basename
full_path = os.path.abspath(os.path.join(self.root_path, self.filename))
dest_path = "{}/{}/{}.usd".format(base_path, basename, basename)
current_stage = omni.usd.get_context().get_stage()
prim_path = omni.usd.get_stage_next_free_path(current_stage, "/" + basename, False)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=full_path,
import_config=self._config,
prim_path=prim_path,
dest_path=dest_path,
)
stage = Usd.Stage.Open(dest_path)
prim_name = str(stage.GetDefaultPrim().GetName())
def add_reference_to_stage():
current_stage = omni.usd.get_context().get_stage()
if current_stage:
prim_path = omni.usd.get_stage_next_free_path(
current_stage, str(current_stage.GetDefaultPrim().GetPath()) + "/" + prim_name, False
)
robot_prim = current_stage.OverridePrim(prim_path)
if "anon:" in current_stage.GetRootLayer().identifier:
robot_prim.GetReferences().AddReference(dest_path)
else:
robot_prim.GetReferences().AddReference(
omni.client.make_relative_url(current_stage.GetRootLayer().identifier, dest_path)
)
if self._config.create_physics_scene:
UsdPhysics.Scene.Define(current_stage, Sdf.Path("/physicsScene"))
async def import_with_clean_stage():
await omni.usd.get_context().new_stage_async()
await omni.kit.app.get_app().next_update_async()
current_stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(current_stage, UsdGeom.Tokens.z)
UsdGeom.SetStageMetersPerUnit(stage, 1)
add_reference_to_stage()
await omni.kit.app.get_app().next_update_async()
if self._models["clean_stage"].get_value_as_bool():
asyncio.ensure_future(import_with_clean_stage())
else:
upAxis = UsdGeom.GetStageUpAxis(current_stage)
if upAxis == "Y":
carb.log_error("The stage Up-Axis must be Z to use the MJCF importer")
add_reference_to_stage()
def _select_picked_file_callback(self, dialog: FilePickerDialog, filename=None, path=None):
if not path.startswith("omniverse://"):
self.root_path = path
self.filename = filename
if path and filename:
self._last_folder = path
self._load_robot(path + "/" + filename)
else:
carb.log_error("path and filename not specified")
else:
carb.log_error("Only Local Paths supported")
dialog.hide()
def on_shutdown(self):
_mjcf.release_mjcf_interface(self._mjcf_interface)
if self._filepicker:
self._filepicker.toggle_bookmark_from_path(
"Built In MJCF Files", (self._extension_path + "/data/mjcf"), False
)
self._filepicker.destroy()
self._filepicker = None
remove_menu_items(self._menu_items, "Isaac Utils")
if self._window:
self._window = None
gc.collect()
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/scripts/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/scripts/ui_utils.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
# str_builder
import asyncio
import os
import subprocess
import sys
from cmath import inf
import carb.settings
import omni.appwindow
import omni.ext
import omni.ui as ui
from omni.kit.window.extensions import SimpleCheckBox
from omni.kit.window.filepicker import FilePickerDialog
from omni.kit.window.property.templates import LABEL_HEIGHT, LABEL_WIDTH
# from .callbacks import on_copy_to_clipboard, on_docs_link_clicked, on_open_folder_clicked, on_open_IDE_clicked
from .style import BUTTON_WIDTH, COLOR_W, COLOR_X, COLOR_Y, COLOR_Z, get_style
def add_line_rect_flourish(draw_line=True):
"""Aesthetic element that adds a Line + Rectangle after all UI elements in the row.
Args:
draw_line (bool, optional): Set false to only draw rectangle. Defaults to True.
"""
if draw_line:
ui.Line(style={"color": 0x338A8777}, width=ui.Fraction(1), alignment=ui.Alignment.CENTER)
ui.Spacer(width=10)
with ui.Frame(width=0):
with ui.VStack():
with ui.Placer(offset_x=0, offset_y=7):
ui.Rectangle(height=5, width=5, alignment=ui.Alignment.CENTER)
ui.Spacer(width=5)
def format_tt(tt):
import string
formated = ""
i = 0
for w in tt.split():
if w.isupper():
formated += w + " "
elif len(w) > 3 or i == 0:
formated += string.capwords(w) + " "
else:
formated += w.lower() + " "
i += 1
return formated
def add_folder_picker_icon(
on_click_fn,
item_filter_fn=None,
bookmark_label=None,
bookmark_path=None,
dialog_title="Select Output Folder",
button_title="Select Folder",
):
def open_file_picker():
def on_selected(filename, path):
on_click_fn(filename, path)
file_picker.hide()
def on_canceled(a, b):
file_picker.hide()
file_picker = FilePickerDialog(
dialog_title,
allow_multi_selection=False,
apply_button_label=button_title,
click_apply_handler=lambda a, b: on_selected(a, b),
click_cancel_handler=lambda a, b: on_canceled(a, b),
item_filter_fn=item_filter_fn,
enable_versioning_pane=True,
)
if bookmark_label and bookmark_path:
file_picker.toggle_bookmark_from_path(bookmark_label, bookmark_path, True)
with ui.Frame(width=0, tooltip=button_title):
ui.Button(
name="IconButton",
width=24,
height=24,
clicked_fn=open_file_picker,
style=get_style()["IconButton.Image::FolderPicker"],
alignment=ui.Alignment.RIGHT_TOP,
)
def btn_builder(label="", type="button", text="button", tooltip="", on_clicked_fn=None):
"""Creates a stylized button.
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "button".
text (str, optional): Text rendered on the button. Defaults to "button".
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
ui.Button: Button
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
btn = ui.Button(
text.upper(),
name="Button",
width=BUTTON_WIDTH,
clicked_fn=on_clicked_fn,
style=get_style(),
alignment=ui.Alignment.LEFT_CENTER,
)
ui.Spacer(width=5)
add_line_rect_flourish(True)
# ui.Spacer(width=ui.Fraction(1))
# ui.Spacer(width=10)
# with ui.Frame(width=0):
# with ui.VStack():
# with ui.Placer(offset_x=0, offset_y=7):
# ui.Rectangle(height=5, width=5, alignment=ui.Alignment.CENTER)
# ui.Spacer(width=5)
return btn
def cb_builder(label="", type="checkbox", default_val=False, tooltip="", on_clicked_fn=None):
"""Creates a Stylized Checkbox
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "checkbox".
default_val (bool, optional): Checked is True, Unchecked is False. Defaults to False.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
ui.SimpleBoolModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
model = ui.SimpleBoolModel()
callable = on_clicked_fn
if callable is None:
callable = lambda x: None
SimpleCheckBox(default_val, callable, model=model)
add_line_rect_flourish()
return model
def dropdown_builder(
label="", type="dropdown", default_val=0, items=["Option 1", "Option 2", "Option 3"], tooltip="", on_clicked_fn=None
):
"""Creates a Stylized Dropdown Combobox
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "dropdown".
default_val (int, optional): Default index of dropdown items. Defaults to 0.
items (list, optional): List of items for dropdown box. Defaults to ["Option 1", "Option 2", "Option 3"].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
AbstractItemModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
combo_box = ui.ComboBox(
default_val, *items, name="ComboBox", width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER
).model
add_line_rect_flourish(False)
def on_clicked_wrapper(model, val):
on_clicked_fn(items[model.get_item_value_model().as_int])
if on_clicked_fn is not None:
combo_box.add_item_changed_fn(on_clicked_wrapper)
return combo_box
def float_builder(label="", type="floatfield", default_val=0, tooltip="", min=-inf, max=inf, step=0.1, format="%.2f"):
"""Creates a Stylized Floatfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "floatfield".
default_val (int, optional): Default Value of UI element. Defaults to 0.
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
Returns:
AbstractValueModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
float_field = ui.FloatDrag(
name="FloatField",
width=ui.Fraction(1),
height=0,
alignment=ui.Alignment.LEFT_CENTER,
min=min,
max=max,
step=step,
format=format,
).model
float_field.set_value(default_val)
add_line_rect_flourish(False)
return float_field
def str_builder(
label="",
type="stringfield",
default_val=" ",
tooltip="",
on_clicked_fn=None,
use_folder_picker=False,
read_only=False,
item_filter_fn=None,
bookmark_label=None,
bookmark_path=None,
folder_dialog_title="Select Output Folder",
folder_button_title="Select Folder",
):
"""Creates a Stylized Stringfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "stringfield".
default_val (str, optional): Text to initialize in Stringfield. Defaults to " ".
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
use_folder_picker (bool, optional): Add a folder picker button to the right. Defaults to False.
read_only (bool, optional): Prevents editing. Defaults to False.
item_filter_fn (Callable, optional): filter function to pass to the FilePicker
bookmark_label (str, optional): bookmark label to pass to the FilePicker
bookmark_path (str, optional): bookmark path to pass to the FilePicker
Returns:
AbstractValueModel: model of Stringfield
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
str_field = ui.StringField(
name="StringField", width=ui.Fraction(1), height=0, alignment=ui.Alignment.LEFT_CENTER, read_only=read_only
).model
str_field.set_value(default_val)
if use_folder_picker:
def update_field(filename, path):
if filename == "":
val = path
elif filename[0] != "/" and path[-1] != "/":
val = path + "/" + filename
elif filename[0] == "/" and path[-1] == "/":
val = path + filename[1:]
else:
val = path + filename
str_field.set_value(val)
add_folder_picker_icon(
update_field,
item_filter_fn,
bookmark_label,
bookmark_path,
dialog_title=folder_dialog_title,
button_title=folder_button_title,
)
else:
add_line_rect_flourish(False)
return str_field
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/tests/test_mjcf.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
import asyncio
import filecmp
import os
import carb
import numpy as np
import omni.kit.commands
# NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import omni.kit.test
import pxr
from pxr import Gf, PhysicsSchemaTools, Sdf, UsdGeom, UsdPhysics, UsdShade
# Having a test class dervived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestMJCF(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
self._timeline = omni.timeline.get_timeline_interface()
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("omni.importer.mjcf")
self._extension_path = ext_manager.get_extension_path(ext_id)
await omni.usd.get_context().new_stage_async()
await omni.kit.app.get_app().next_update_async()
# After running each test
async def tearDown(self):
while omni.usd.get_context().get_stage_loading_status()[2] > 0:
print("tearDown, assets still loading, waiting to finish...")
await asyncio.sleep(1.0)
await omni.kit.app.get_app().next_update_async()
await omni.usd.get_context().new_stage_async()
async def test_mjcf_ant(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant",
)
await omni.kit.app.get_app().next_update_async()
# check if object is there
prim = stage.GetPrimAtPath("/ant")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints and links exist
front_left_leg_joint = stage.GetPrimAtPath("/ant/torso/joints/hip_1")
self.assertNotEqual(front_left_leg_joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(front_left_leg_joint.GetTypeName(), "PhysicsRevoluteJoint")
self.assertAlmostEqual(front_left_leg_joint.GetAttribute("physics:upperLimit").Get(), 40)
self.assertAlmostEqual(front_left_leg_joint.GetAttribute("physics:lowerLimit").Get(), -40)
front_left_leg = stage.GetPrimAtPath("/ant/torso/front_left_leg")
self.assertAlmostEqual(front_left_leg.GetAttribute("physics:diagonalInertia").Get()[0], 0.0)
self.assertAlmostEqual(front_left_leg.GetAttribute("physics:mass").Get(), 0.0)
front_left_foot_joint = stage.GetPrimAtPath("/ant/torso/joints/ankle_1")
self.assertNotEqual(front_left_foot_joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(front_left_foot_joint.GetTypeName(), "PhysicsRevoluteJoint")
self.assertAlmostEqual(front_left_foot_joint.GetAttribute("physics:upperLimit").Get(), 100)
self.assertAlmostEqual(front_left_foot_joint.GetAttribute("physics:lowerLimit").Get(), 30)
front_left_foot = stage.GetPrimAtPath("/ant/torso/front_left_foot")
self.assertAlmostEqual(front_left_foot.GetAttribute("physics:diagonalInertia").Get()[0], 0.0)
self.assertAlmostEqual(front_left_foot.GetAttribute("physics:mass").Get(), 0.0)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
async def test_mjcf_humanoid(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_humanoid.xml",
import_config=import_config,
prim_path="/humanoid",
)
await omni.kit.app.get_app().next_update_async()
# check if object is there
prim = stage.GetPrimAtPath("/humanoid")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints and link exist
root_joint = stage.GetPrimAtPath("/humanoid/torso/joints/rootJoint_torso")
self.assertNotEqual(root_joint.GetPath(), Sdf.Path.emptyPath)
pelvis_joint = stage.GetPrimAtPath("/humanoid/torso/joints/abdomen_x")
self.assertNotEqual(pelvis_joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(pelvis_joint.GetTypeName(), "PhysicsRevoluteJoint")
self.assertAlmostEqual(pelvis_joint.GetAttribute("physics:upperLimit").Get(), 35)
self.assertAlmostEqual(pelvis_joint.GetAttribute("physics:lowerLimit").Get(), -35)
lower_waist_joint = stage.GetPrimAtPath("/humanoid/torso/joints/lower_waist")
self.assertNotEqual(lower_waist_joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(lower_waist_joint.GetTypeName(), "PhysicsJoint")
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotX:physics:high").Get(), 45)
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotX:physics:low").Get(), -45)
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotY:physics:high").Get(), 30)
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotY:physics:low").Get(), -75)
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotZ:physics:high").Get(), -1)
self.assertAlmostEqual(lower_waist_joint.GetAttribute("limit:rotZ:physics:low").Get(), 1)
left_foot = stage.GetPrimAtPath("/humanoid/torso/left_foot")
self.assertAlmostEqual(left_foot.GetAttribute("physics:diagonalInertia").Get()[0], 0.0)
self.assertAlmostEqual(left_foot.GetAttribute("physics:mass").Get(), 0.0)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
# This sample corresponds to the example in the docs, keep this and the version in the docs in sync
async def test_doc_sample(self):
import omni.kit.commands
from pxr import Gf, PhysicsSchemaTools, Sdf, UsdLux, UsdPhysics
# setting up import configuration:
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
# Get path to extension data:
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("omni.importer.mjcf")
extension_path = ext_manager.get_extension_path(ext_id)
# import MJCF
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant",
)
# get stage handle
stage = omni.usd.get_context().get_stage()
# enable physics
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
# set gravity
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
# add lighting
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
async def test_mjcf_scale(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_distance_scale(100.0)
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant",
)
await omni.kit.app.get_app().next_update_async()
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 0.01)
async def test_mjcf_self_collision(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_self_collision(True)
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant",
)
await omni.kit.app.get_app().next_update_async()
prim = stage.GetPrimAtPath("/ant/torso")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(prim.GetAttribute("physxArticulation:enabledSelfCollisions").Get(), True)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
async def test_mjcf_default_prim(self):
stage = omni.usd.get_context().get_stage()
mjcf_path = os.path.abspath(self._extension_path + "/data/mjcf/nv_ant.xml")
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
import_config.set_make_default_prim(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant_1",
)
await omni.kit.app.get_app().next_update_async()
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant_2",
)
await omni.kit.app.get_app().next_update_async()
default_prim = stage.GetDefaultPrim()
self.assertNotEqual(default_prim.GetPath(), Sdf.Path.emptyPath)
prim_2 = stage.GetPrimAtPath("/ant_2")
self.assertNotEqual(prim_2.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(default_prim.GetPath(), prim_2.GetPath())
async def test_mjcf_visualize_collision_geom(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_self_collision(True)
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
import_config.set_visualize_collision_geoms(False)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/open_ai_assets/hand/manipulate_block.xml",
import_config=import_config,
prim_path="/shadow_hand",
)
await omni.kit.app.get_app().next_update_async()
prim = stage.GetPrimAtPath("/shadow_hand/robot0_hand_mount/robot0_forearm/visuals/robot0_C_forearm")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
imageable = UsdGeom.Imageable(prim)
visibility_attr = imageable.GetVisibilityAttr().Get()
self.assertEqual(visibility_attr, "invisible")
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
async def test_mjcf_import_shadow_hand_egg(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_self_collision(True)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/open_ai_assets/hand/manipulate_egg_touch_sensors.xml",
import_config=import_config,
prim_path="/shadow_hand",
)
await omni.kit.app.get_app().next_update_async()
prim = stage.GetPrimAtPath("/shadow_hand/robot0_hand_mount")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
prim = stage.GetPrimAtPath("/shadow_hand/object")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
prim = stage.GetPrimAtPath("/shadow_hand/worldBody")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
async def test_mjcf_import_humanoid_100(self):
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_self_collision(False)
import_config.set_import_inertia_tensor(True)
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=self._extension_path + "/data/mjcf/mujoco_sim_assets/humanoid100.xml",
import_config=import_config,
prim_path="/humanoid_100",
)
await omni.kit.app.get_app().next_update_async()
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/python/tests/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from .test_mjcf import *
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/bindings/BindingsMjcfPython.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include <carb/BindingsPythonUtils.h>
#include "../plugins/Mjcf.h"
CARB_BINDINGS("omni.importer.mjcf.python")
namespace omni {
namespace importer {
namespace mjcf {}
} // namespace importer
} // namespace omni
namespace {
PYBIND11_MODULE(_mjcf, m) {
using namespace carb;
using namespace omni::importer::mjcf;
m.doc() = R"pbdoc(
This extension provides an interface to the MJCF importer.
Example:
Setup the configuration parameters before importing.
Files must be parsed before imported.
::
from omni.importer.mjcf import _mjcf
mjcf_interface = _mjcf.acquire_mjcf_interface()
# setup config params
import_config = _mjcf.ImportConfig()
import_config.fix_base = True
# parse and import file
mjcf_interface.create_asset_mjcf(mjcf_path, prim_path, import_config)
Refer to the sample documentation for more examples and usage
)pbdoc";
py::class_<ImportConfig>(m, "ImportConfig")
.def(py::init<>())
.def_readwrite("merge_fixed_joints", &ImportConfig::mergeFixedJoints,
"Consolidating links that are connected by fixed joints")
.def_readwrite(
"convex_decomp", &ImportConfig::convexDecomp,
"Decompose a convex mesh into smaller pieces for a closer fit")
.def_readwrite("import_inertia_tensor",
&ImportConfig::importInertiaTensor,
"Import inertia tensor from mjcf, if not specified in "
"mjcf it will import as identity")
.def_readwrite("fix_base", &ImportConfig::fixBase,
"Create fix joint for base link")
.def_readwrite("self_collision", &ImportConfig::selfCollision,
"Self collisions between links in the articulation")
.def_readwrite("density", &ImportConfig::density,
"default density used for links")
//.def_readwrite("default_drive_type", &ImportConfig::defaultDriveType,
//"default drive type used for joints")
.def_readwrite("default_drive_strength",
&ImportConfig::defaultDriveStrength,
"default drive stiffness used for joints")
.def_readwrite(
"distance_scale", &ImportConfig::distanceScale,
"Set the unit scaling factor, 1.0 means meters, 100.0 means cm")
//.def_readwrite("up_vector", &ImportConfig::upVector, "Up vector used for
//import")
.def_readwrite("create_physics_scene", &ImportConfig::createPhysicsScene,
"add a physics scene to the stage on import")
.def_readwrite("make_default_prim", &ImportConfig::makeDefaultPrim,
"set imported robot as default prim")
.def_readwrite("create_body_for_fixed_joint",
&ImportConfig::createBodyForFixedJoint,
"creates body for fixed joint")
.def_readwrite("override_com", &ImportConfig::overrideCoM,
"whether to compute the center of mass from geometry and "
"override values given in the original asset")
.def_readwrite("override_inertia_tensor", &ImportConfig::overrideInertia,
"Whether to compute the inertia tensor from geometry and "
"override values given in the original asset")
.def_readwrite("make_instanceable", &ImportConfig::makeInstanceable,
"Creates an instanceable version of the asset. All meshes "
"will be placed in a separate USD file")
.def_readwrite("instanceable_usd_path",
&ImportConfig::instanceableMeshUsdPath,
"USD file to store instanceable mehses in")
// setters for each property
.def("set_merge_fixed_joints",
[](ImportConfig &config, const bool value) {
config.mergeFixedJoints = value;
})
.def("set_convex_decomp",
[](ImportConfig &config, const bool value) {
config.convexDecomp = value;
})
.def("set_import_inertia_tensor",
[](ImportConfig &config, const bool value) {
config.importInertiaTensor = value;
})
.def("set_fix_base", [](ImportConfig &config,
const bool value) { config.fixBase = value; })
.def("set_self_collision",
[](ImportConfig &config, const bool value) {
config.selfCollision = value;
})
.def("set_density", [](ImportConfig &config,
const float value) { config.density = value; })
/* .def("set_default_drive_type",
[](ImportConfig& config, const int value) {
config.defaultDriveType =
static_cast<UrdfJointTargetType>(value);
})*/
.def("set_default_drive_strength",
[](ImportConfig &config, const float value) {
config.defaultDriveStrength = value;
})
.def("set_distance_scale",
[](ImportConfig &config, const float value) {
config.distanceScale = value;
})
/* .def("set_up_vector",
[](ImportConfig& config, const float x, const float y, const
float z) { config.upVector = { x, y, z };
})*/
.def("set_create_physics_scene",
[](ImportConfig &config, const bool value) {
config.createPhysicsScene = value;
})
.def("set_make_default_prim",
[](ImportConfig &config, const bool value) {
config.makeDefaultPrim = value;
})
.def("set_create_body_for_fixed_joint",
[](ImportConfig &config, const bool value) {
config.createBodyForFixedJoint = value;
})
.def("set_override_com",
[](ImportConfig &config, const bool value) {
config.overrideCoM = value;
})
.def("set_override_inertia",
[](ImportConfig &config, const bool value) {
config.overrideInertia = value;
})
.def("set_make_instanceable",
[](ImportConfig &config, const bool value) {
config.makeInstanceable = value;
})
.def("set_instanceable_usd_path",
[](ImportConfig &config, const std::string value) {
config.instanceableMeshUsdPath = value;
})
.def("set_visualize_collision_geoms",
[](ImportConfig &config, const bool value) {
config.visualizeCollisionGeoms = value;
})
.def("set_import_sites", [](ImportConfig &config, const bool value) {
config.importSites = value;
});
defineInterfaceClass<Mjcf>(m, "Mjcf", "acquire_mjcf_interface",
"release_mjcf_interface")
.def("create_asset_mjcf",
wrapInterfaceFunction(&Mjcf::createAssetFromMJCF),
py::arg("fileName"), py::arg("primName"), py::arg("config"),
py::arg("stage_identifier") = std::string(""),
R"pbdoc(
Parse and import MJCF file.
Args:
arg0 (:obj:`str`): The absolute path to the mjcf
arg1 (:obj:`str`): Path to the robot on the USD stage
arg2 (:obj:`omni.importer.mjcf._mjcf.ImportConfig`): Import configuration
arg3 (:obj:`str`): optional: path to stage to use for importing. leaving it empty will import on open stage. If the open stage is a new stage, textures will not load.
)pbdoc");
}
} // namespace
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/config/extension.toml | [core]
reloadable = true
order = 0
[package]
version = "1.1.0"
category = "Simulation"
title = "Omniverse MJCF Importer"
description = "MJCF Importer"
repository="https://github.com/NVIDIA-Omniverse/mjcf-importer-extension"
authors = ["Isaac Sim Team"]
keywords = ["mjcf", "mujoco", "importer", "isaac"]
changelog = "docs/CHANGELOG.md"
readme = "docs/Overview.md"
icon = "data/icon.png"
writeTarget.kit = true
preview_image = "data/preview.png"
[dependencies]
"omni.kit.uiapp" = {}
"omni.kit.window.filepicker" = {}
"omni.kit.window.content_browser" = {}
"omni.kit.pip_archive" = {} # pulls in pillow
"omni.physx" = {}
"omni.kit.commands" = {}
"omni.kit.window.extensions" = {}
"omni.kit.window.property" = {}
[[python.module]]
name = "omni.importer.mjcf"
[[python.module]]
name = "omni.importer.mjcf.tests"
[[native.plugin]]
path = "bin/*.plugin"
recursive = false
[[test]]
# this is to catch issues where our assimp is out of sync with the one that comes with
# asset importer as this can cause segfaults due to binary incompatibility.
dependencies = ["omni.kit.tool.asset_importer"]
stdoutFailPatterns.exclude = [
"*Cannot find material with name*",
"*Neither inertial nor geometries where specified for*",
"*JointSpec type free not yet supported!*",
"*is not a valid usd path*",
"*extension object is still alive, something holds a reference on it*", # exclude warning as failure
]
args = ["--/app/file/ignoreUnsavedOnExit=1"]
[documentation]
pages = [
"docs/Overview.md",
"docs/CHANGELOG.md",
]
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfImporter.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include "MjcfImporter.h"
#include <pxr/usd/usdGeom/plane.h>
namespace omni {
namespace importer {
namespace mjcf {
MJCFImporter::MJCFImporter(const std::string fullPath, ImportConfig &config) {
defaultClassName = "main";
std::string filePath = fullPath;
char relPathBuffer[2048];
MakeRelativePath(filePath.c_str(), "", relPathBuffer);
baseDirPath = std::string(relPathBuffer);
tinyxml2::XMLDocument doc;
tinyxml2::XMLElement *root = LoadFile(doc, filePath);
if (!root) {
return;
}
// if the mjcf file contains <include file="....">, load the included file as
// well
{
tinyxml2::XMLDocument includeDoc;
tinyxml2::XMLElement *includeElement = root->FirstChildElement("include");
tinyxml2::XMLElement *includeRoot =
LoadInclude(includeDoc, includeElement, baseDirPath);
while (includeRoot) {
LoadGlobals(includeRoot, defaultClassName, baseDirPath, worldBody, bodies,
actuators, tendons, contacts, simulationMeshCache, meshes,
materials, textures, compiler, classes, jointToActuatorIdx,
config);
includeElement = includeElement->NextSiblingElement("include");
includeRoot = LoadInclude(includeDoc, includeElement, baseDirPath);
}
}
LoadGlobals(root, defaultClassName, baseDirPath, worldBody, bodies, actuators,
tendons, contacts, simulationMeshCache, meshes, materials,
textures, compiler, classes, jointToActuatorIdx, config);
for (int i = 0; i < int(bodies.size()); ++i) {
populateBodyLookup(bodies[i]);
}
computeKinematicHierarchy();
if (!createContactGraph()) {
CARB_LOG_ERROR("*** Could not create contact graph to compute collision "
"groups! Are contacts specified properly?\n");
}
// loading is complete if it reaches here
this->isLoaded = true;
}
MJCFImporter::~MJCFImporter() {
for (int i = 0; i < (int)bodies.size(); i++) {
delete bodies[i];
}
for (int i = 0; i < (int)actuators.size(); i++) {
delete actuators[i];
}
for (int i = 0; i < (int)tendons.size(); i++) {
delete tendons[i];
}
for (int i = 0; i < (int)contacts.size(); i++) {
delete contacts[i];
}
}
void MJCFImporter::populateBodyLookup(MJCFBody *body) {
nameToBody[body->name] = body;
for (MJCFGeom *geom : body->geoms) {
// not a visual geom
if (!(geom->contype == 0 && geom->conaffinity == 0)) {
geomNameToIdx[geom->name] = int(collisionGeoms.size());
collisionGeoms.push_back(geom);
}
}
for (MJCFBody *childBody : body->bodies) {
populateBodyLookup(childBody);
}
}
bool MJCFImporter::AddPhysicsEntities(pxr::UsdStageWeakPtr stage,
const Transform trans,
const std::string &rootPrimPath,
const ImportConfig &config) {
this->createBodyForFixedJoint = config.createBodyForFixedJoint;
setStageMetadata(stage, config);
createRoot(stage, trans, rootPrimPath, config);
std::string instanceableUSDPath = config.instanceableMeshUsdPath;
if (config.makeInstanceable) {
if (config.instanceableMeshUsdPath[0] == '.') {
// make relative path relative to output directory
std::string relativePath = config.instanceableMeshUsdPath.substr(1);
std::string curStagePath = stage->GetRootLayer()->GetIdentifier();
std::string directory;
size_t pos = curStagePath.find_last_of("\\/");
directory = (std::string::npos == pos) ? "" : curStagePath.substr(0, pos);
instanceableUSDPath = directory + relativePath;
}
pxr::UsdStageRefPtr instanceableMeshStage =
pxr::UsdStage::CreateNew(instanceableUSDPath);
setStageMetadata(instanceableMeshStage, config);
for (int i = 0; i < (int)bodies.size(); i++) {
std::string rootArtPrimPath =
rootPrimPath + "/" + SanitizeUsdName(bodies[i]->name);
pxr::UsdGeomXform rootArtPrim = pxr::UsdGeomXform::Define(
instanceableMeshStage, pxr::SdfPath(rootArtPrimPath));
CreateInstanceableMeshes(instanceableMeshStage, bodies[i],
rootArtPrimPath, true, config);
}
// create instanceable assets for world body geoms
std::string worldBodyPrimPath = rootPrimPath + "/worldBody";
pxr::UsdGeomXform worldBodyPrim = pxr::UsdGeomXform::Define(
instanceableMeshStage, pxr::SdfPath(worldBodyPrimPath));
for (int i = 0; i < (int)worldBody.geoms.size(); i++) {
std::string bodyPath =
worldBodyPrimPath + "/" + SanitizeUsdName(worldBody.geoms[i]->name);
auto bodyPathSdf =
getNextFreePath(instanceableMeshStage, pxr::SdfPath(bodyPath));
bodyPath = bodyPathSdf.GetString();
std::string uniqueName = bodyPathSdf.GetName();
pxr::UsdPrim bodyLink =
pxr::UsdGeomXform::Define(instanceableMeshStage, bodyPathSdf)
.GetPrim();
bool isVisual = worldBody.geoms[i]->contype == 0 &&
worldBody.geoms[i]->conaffinity == 0;
if (isVisual) {
worldBody.hasVisual = true;
} else {
if (worldBody.geoms[i]->type != MJCFGeom::PLANE) {
std::string geomPath = bodyPath + "/collisions/" + uniqueName;
pxr::UsdPrim prim = createPrimitiveGeom(
instanceableMeshStage, geomPath, worldBody.geoms[i],
simulationMeshCache, config, false, rootPrimPath, true);
// enable collisions on prim
if (prim) {
applyCollisionGeom(instanceableMeshStage, prim, worldBody.geoms[i]);
nameToUsdCollisionPrim[worldBody.geoms[i]->name] = bodyPath;
} else {
CARB_LOG_ERROR("Collision geom %s could not created",
worldBody.geoms[i]->name.c_str());
}
}
}
std::string geomPath = bodyPath + "/visuals/" + uniqueName;
pxr::UsdPrim prim = createPrimitiveGeom(
instanceableMeshStage, geomPath, worldBody.geoms[i],
simulationMeshCache, config, true, rootPrimPath, false);
if (!config.visualizeCollisionGeoms && worldBody.hasVisual && !isVisual) {
// turn off visibility for collision prim
pxr::UsdGeomImageable imageable(prim);
imageable.MakeInvisible();
}
// parse material and texture
if (worldBody.geoms[i]->material != "") {
if (materials.find(worldBody.geoms[i]->material) != materials.end()) {
MJCFMaterial material =
materials.find(worldBody.geoms[i]->material)->second;
MJCFTexture *texture = nullptr;
if (material.texture != "") {
if (textures.find(material.texture) == textures.end()) {
CARB_LOG_ERROR("Cannot find texture with name %s.\n",
material.texture.c_str());
}
texture = &(textures.find(material.texture)->second);
// only MESH type has UV mapping
if (worldBody.geoms[i]->type == MJCFGeom::MESH) {
material.project_uvw = false;
}
}
Vec4 color = Vec4();
createAndBindMaterial(instanceableMeshStage, prim, &material, texture,
color, false);
} else {
CARB_LOG_ERROR("Cannot find material with name %s.\n",
worldBody.geoms[i]->material.c_str());
}
} else if (worldBody.geoms[i]->rgba.x != 0.2 ||
worldBody.geoms[i]->rgba.y != 0.2 ||
worldBody.geoms[i]->rgba.z != 0.2) {
// create material with color only
createAndBindMaterial(instanceableMeshStage, prim, nullptr, nullptr,
worldBody.geoms[i]->rgba, true);
}
geomPrimMap[worldBody.geoms[i]->name] = prim;
geomToBodyPrim[worldBody.geoms[i]->name] = bodyLink;
}
instanceableMeshStage->Export(instanceableUSDPath);
}
for (int i = 0; i < (int)bodies.size(); i++) {
std::string rootArtPrimPath =
rootPrimPath + "/" + SanitizeUsdName(bodies[i]->name);
pxr::UsdGeomXform rootArtPrim =
pxr::UsdGeomXform::Define(stage, pxr::SdfPath(rootArtPrimPath));
CreatePhysicsBodyAndJoint(stage, bodies[i], rootArtPrimPath, trans, true,
rootPrimPath, config, instanceableUSDPath);
}
addWorldGeomsAndSites(stage, rootPrimPath, config, instanceableUSDPath);
AddContactFilters(stage);
AddTendons(stage, rootPrimPath);
return true;
}
bool MJCFImporter::addVisualGeom(pxr::UsdStageWeakPtr stage,
pxr::UsdPrim bodyPrim, MJCFBody *body,
std::string bodyPath,
const ImportConfig &config, bool createGeoms,
const std::string rootPrimPath) {
bool hasVisualGeoms = false;
for (int i = 0; i < (int)body->geoms.size(); i++) {
bool isVisual =
body->geoms[i]->contype == 0 && body->geoms[i]->conaffinity == 0;
if (!config.makeInstanceable || createGeoms) {
std::string geomPath =
bodyPath + "/visuals/" + SanitizeUsdName(body->geoms[i]->name);
pxr::UsdPrim prim = createPrimitiveGeom(stage, geomPath, body->geoms[i],
simulationMeshCache, config, true,
rootPrimPath, false);
if (!config.visualizeCollisionGeoms && body->hasVisual && !isVisual) {
// turn off visibility for prim
pxr::UsdGeomImageable imageable(prim);
imageable.MakeInvisible();
}
// parse material and texture
if (body->geoms[i]->material != "") {
if (materials.find(body->geoms[i]->material) != materials.end()) {
MJCFMaterial material =
materials.find(body->geoms[i]->material)->second;
MJCFTexture *texture = nullptr;
if (material.texture != "") {
if (textures.find(material.texture) == textures.end()) {
CARB_LOG_ERROR("Cannot find texture with name %s.\n",
material.texture.c_str());
}
texture = &(textures.find(material.texture)->second);
// only MESH type has UV mapping
if (body->geoms[i]->type == MJCFGeom::MESH) {
material.project_uvw = false;
}
}
Vec4 color = Vec4();
createAndBindMaterial(stage, prim, &material, texture, color, false);
} else {
CARB_LOG_ERROR("Cannot find material with name %s.\n",
body->geoms[i]->material.c_str());
}
} else if (body->geoms[i]->rgba.x != 0.2 ||
body->geoms[i]->rgba.y != 0.2 ||
body->geoms[i]->rgba.z != 0.2) {
// create material with color only
createAndBindMaterial(stage, prim, nullptr, nullptr,
body->geoms[i]->rgba, true);
}
geomPrimMap[body->geoms[i]->name] = prim;
}
geomToBodyPrim[body->geoms[i]->name] = bodyPrim;
hasVisualGeoms = true;
}
return hasVisualGeoms;
}
void MJCFImporter::addVisualSites(pxr::UsdStageWeakPtr stage,
pxr::UsdPrim bodyPrim, MJCFBody *body,
std::string bodyPath,
const ImportConfig &config) {
for (int i = 0; i < (int)body->sites.size(); i++) {
std::string sitePath =
bodyPath + "/sites/" + SanitizeUsdName(body->sites[i]->name);
pxr::UsdPrim prim;
if (body->sites[i]->hasGeom) {
prim = createPrimitiveGeom(stage, sitePath, body->sites[i], config, true);
// parse material and texture
if (body->sites[i]->material != "") {
if (materials.find(body->sites[i]->material) != materials.end()) {
MJCFMaterial material =
materials.find(body->sites[i]->material)->second;
MJCFTexture *texture = nullptr;
if (material.texture != "") {
if (textures.find(material.texture) == textures.end()) {
CARB_LOG_ERROR("Cannot find texture with name %s.\n",
material.texture.c_str());
}
texture = &(textures.find(material.texture)->second);
}
Vec4 color = Vec4();
createAndBindMaterial(stage, prim, &material, texture, color, false);
} else {
CARB_LOG_ERROR("Cannot find material with name %s.\n",
body->geoms[i]->material.c_str());
}
} else if (body->sites[i]->rgba.x != 0.2 ||
body->sites[i]->rgba.y != 0.2 ||
body->sites[i]->rgba.z != 0.2) {
// create material with color only
createAndBindMaterial(stage, prim, nullptr, nullptr,
body->sites[i]->rgba, true);
}
} else {
prim = pxr::UsdGeomXform::Define(stage, pxr::SdfPath(sitePath)).GetPrim();
}
sitePrimMap[body->sites[i]->name] = prim;
siteToBodyPrim[body->sites[i]->name] = bodyPrim;
}
}
void MJCFImporter::addWorldGeomsAndSites(
pxr::UsdStageWeakPtr stage, std::string rootPath,
const ImportConfig &config, const std::string instanceableUsdPath) {
// we have to create a dummy link to place the sites/geoms defined in the
// world body
std::string dummyPath = rootPath + "/worldBody";
pxr::UsdPrim dummyLink =
pxr::UsdGeomXform::Define(stage, pxr::SdfPath(dummyPath)).GetPrim();
pxr::UsdPhysicsArticulationRootAPI physicsSchema =
pxr::UsdPhysicsArticulationRootAPI::Apply(dummyLink);
pxr::PhysxSchemaPhysxArticulationAPI physxSchema =
pxr::PhysxSchemaPhysxArticulationAPI::Apply(dummyLink);
physxSchema.CreateEnabledSelfCollisionsAttr().Set(config.selfCollision);
for (int i = 0; i < (int)worldBody.geoms.size(); i++) {
std::string bodyPath =
dummyPath + "/" + SanitizeUsdName(worldBody.geoms[i]->name);
auto bodyPathSdf = getNextFreePath(stage, pxr::SdfPath(bodyPath));
bodyPath = bodyPathSdf.GetString();
std::string uniqueName = bodyPathSdf.GetName();
pxr::UsdPrim bodyLink =
pxr::UsdGeomXform::Define(stage, bodyPathSdf).GetPrim();
pxr::UsdPhysicsRigidBodyAPI physicsAPI =
pxr::UsdPhysicsRigidBodyAPI::Apply(bodyLink);
pxr::PhysxSchemaPhysxRigidBodyAPI::Apply(bodyLink);
// createFixedRoot(stage, dummyPath + "/joints/rootJoint_" + uniqueName,
// dummyPath + "/" + uniqueName);
physicsAPI.GetKinematicEnabledAttr().Set(true);
bool hasCollisionGeoms = false;
bool isVisual = worldBody.geoms[i]->contype == 0 &&
worldBody.geoms[i]->conaffinity == 0;
if (isVisual) {
worldBody.hasVisual = true;
} else {
if (worldBody.geoms[i]->type != MJCFGeom::PLANE) {
if (!config.makeInstanceable) {
std::string geomPath = bodyPath + "/collisions/" + uniqueName;
pxr::UsdPrim prim = createPrimitiveGeom(
stage, geomPath, worldBody.geoms[i], simulationMeshCache, config,
false, rootPath, true);
// enable collisions on prim
if (prim) {
applyCollisionGeom(stage, prim, worldBody.geoms[i]);
nameToUsdCollisionPrim[worldBody.geoms[i]->name] = bodyPath;
} else {
CARB_LOG_ERROR("Collision geom %s could not created",
worldBody.geoms[i]->name.c_str());
}
}
} else {
// add collision plane (do not support instanceable asset for the plane)
pxr::SdfPath collisionPlanePath =
pxr::SdfPath(bodyPath + "/collisions/CollisionPlane");
pxr::UsdGeomPlane collisionPlane =
pxr::UsdGeomPlane::Define(stage, collisionPlanePath);
collisionPlane.CreatePurposeAttr().Set(pxr::UsdGeomTokens->guide);
collisionPlane.CreateAxisAttr().Set(pxr::UsdGeomTokens->z);
pxr::UsdPrim collisionPlanePrim = collisionPlane.GetPrim();
pxr::UsdPhysicsCollisionAPI::Apply(collisionPlanePrim);
MJCFGeom *geom = worldBody.geoms[i];
// set transformations for collision plane
pxr::GfMatrix4d mat;
mat.SetIdentity();
mat.SetTranslateOnly(
pxr::GfVec3d(geom->pos.x, geom->pos.y, geom->pos.z));
mat.SetRotateOnly(pxr::GfQuatd(geom->quat.w, geom->quat.x, geom->quat.y,
geom->quat.z));
pxr::GfMatrix4d scale;
scale.SetIdentity();
scale.SetScale(pxr::GfVec3d(config.distanceScale, config.distanceScale,
config.distanceScale));
Vec3 cen = geom->pos;
Quat q = geom->quat;
scale.SetIdentity();
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
pxr::UsdGeomXformable gprim = pxr::UsdGeomXformable(collisionPlanePrim);
gprim.ClearXformOpOrder();
pxr::UsdGeomXformOp transOp = gprim.AddTransformOp();
transOp.Set(scale * mat, pxr::UsdTimeCode::Default());
}
hasCollisionGeoms = true;
}
if (config.makeInstanceable && hasCollisionGeoms &&
worldBody.geoms[i]->type != MJCFGeom::PLANE) {
// make main collisions prim instanceable and reference meshes
pxr::SdfPath collisionsPath = pxr::SdfPath(bodyPath + "/collisions");
pxr::UsdPrim collisionsPrim = stage->DefinePrim(collisionsPath);
collisionsPrim.GetReferences().AddReference(instanceableUsdPath,
collisionsPath);
collisionsPrim.SetInstanceable(true);
}
bool hasVisualGeoms = false;
if (!config.makeInstanceable) {
std::string geomPath = bodyPath + "/visuals/" + uniqueName;
pxr::UsdPrim prim = createPrimitiveGeom(
stage, geomPath, worldBody.geoms[i], simulationMeshCache, config,
true, rootPath, false);
if (!config.visualizeCollisionGeoms && worldBody.hasVisual && !isVisual) {
// turn off visibility for collision prim
pxr::UsdGeomImageable imageable(prim);
imageable.MakeInvisible();
}
// parse material and texture
if (worldBody.geoms[i]->material != "") {
if (materials.find(worldBody.geoms[i]->material) != materials.end()) {
MJCFMaterial material =
materials.find(worldBody.geoms[i]->material)->second;
MJCFTexture *texture = nullptr;
if (material.texture != "") {
if (textures.find(material.texture) == textures.end()) {
CARB_LOG_ERROR("Cannot find texture with name %s.\n",
material.texture.c_str());
}
texture = &(textures.find(material.texture)->second);
// only MESH type has UV mapping
if (worldBody.geoms[i]->type == MJCFGeom::MESH) {
material.project_uvw = false;
}
}
Vec4 color = Vec4();
createAndBindMaterial(stage, prim, &material, texture, color, false);
} else {
CARB_LOG_ERROR("Cannot find material with name %s.\n",
worldBody.geoms[i]->material.c_str());
}
} else if (worldBody.geoms[i]->rgba.x != 0.2 ||
worldBody.geoms[i]->rgba.y != 0.2 ||
worldBody.geoms[i]->rgba.z != 0.2) {
// create material with color only
createAndBindMaterial(stage, prim, nullptr, nullptr,
worldBody.geoms[i]->rgba, true);
}
geomPrimMap[worldBody.geoms[i]->name] = prim;
}
geomToBodyPrim[worldBody.geoms[i]->name] = bodyLink;
hasVisualGeoms = true;
if (config.makeInstanceable && hasVisualGeoms) {
// make main visuals prim instanceable and reference meshes
pxr::SdfPath visualsPath = pxr::SdfPath(bodyPath + "/visuals");
pxr::UsdPrim visualsPrim = stage->DefinePrim(visualsPath);
visualsPrim.GetReferences().AddReference(instanceableUsdPath,
visualsPath);
visualsPrim.SetInstanceable(true);
}
}
addVisualSites(stage, dummyLink, &worldBody, dummyPath, config);
}
void MJCFImporter::AddContactFilters(pxr::UsdStageWeakPtr stage) {
// adding collision filtering pairs
for (int i = 0; i < (int)contactGraph.size(); i++) {
std::string &primPath = nameToUsdCollisionPrim[contactGraph[i]->name];
pxr::UsdPhysicsFilteredPairsAPI filteredPairsAPI =
pxr::UsdPhysicsFilteredPairsAPI::Apply(
stage->GetPrimAtPath(pxr::SdfPath(primPath)));
std::set<int> neighborhood = contactGraph[i]->adjacentNodes;
neighborhood.insert(i);
for (int j = 0; j < (int)contactGraph.size(); j++) {
if (neighborhood.find(j) == neighborhood.end()) {
std::string &filteredPrimPath =
nameToUsdCollisionPrim[contactGraph[j]->name];
filteredPairsAPI.CreateFilteredPairsRel().AddTarget(
pxr::SdfPath(filteredPrimPath));
}
}
}
}
void MJCFImporter::AddTendons(pxr::UsdStageWeakPtr stage,
std::string rootPath) {
// adding tendons
for (const auto &t : tendons) {
if (t->type == MJCFTendon::FIXED) {
// setting the joint with the lowest kinematic hierarchy number as the
// TendonAxisRoot
if (t->fixedJoints.size() != 0) {
MJCFTendon::FixedJoint *rootJoint = t->fixedJoints[0];
for (int i = 0; i < (int)t->fixedJoints.size(); i++) {
if (jointToKinematicHierarchy[t->fixedJoints[i]->joint] <
jointToKinematicHierarchy[rootJoint->joint]) {
rootJoint = t->fixedJoints[i];
}
}
// adding the TendonAxisRoot api to the root joint
pxr::VtArray<float> coef = {rootJoint->coef};
if (revoluteJointsMap.find(rootJoint->joint) !=
revoluteJointsMap.end()) {
pxr::UsdPhysicsRevoluteJoint rootJointPrim =
revoluteJointsMap[rootJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisRootAPI rootAPI =
pxr::PhysxSchemaPhysxTendonAxisRootAPI::Apply(
rootJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
if (t->limited) {
rootAPI.CreateLowerLimitAttr().Set(t->range[0]);
rootAPI.CreateUpperLimitAttr().Set(t->range[1]);
}
if (t->springlength >= 0) {
rootAPI.CreateRestLengthAttr().Set(t->springlength);
}
rootAPI.CreateStiffnessAttr().Set(t->stiffness);
rootAPI.CreateDampingAttr().Set(t->damping);
pxr::PhysxSchemaPhysxTendonAttachmentAPI(rootAPI, rootAPI.GetName())
.CreateGearingAttr()
.Set(coef);
} else if (prismaticJointsMap.find(rootJoint->joint) !=
prismaticJointsMap.end()) {
pxr::UsdPhysicsPrismaticJoint rootJointPrim =
prismaticJointsMap[rootJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisRootAPI rootAPI =
pxr::PhysxSchemaPhysxTendonAxisRootAPI::Apply(
rootJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
if (t->limited) {
rootAPI.CreateLowerLimitAttr().Set(t->range[0]);
rootAPI.CreateUpperLimitAttr().Set(t->range[1]);
}
if (t->springlength >= 0) {
rootAPI.CreateRestLengthAttr().Set(t->springlength);
}
rootAPI.CreateStiffnessAttr().Set(t->stiffness);
rootAPI.CreateDampingAttr().Set(t->damping);
pxr::PhysxSchemaPhysxTendonAttachmentAPI(rootAPI, rootAPI.GetName())
.CreateGearingAttr()
.Set(coef);
} else if (d6JointsMap.find(rootJoint->joint) != d6JointsMap.end()) {
pxr::UsdPhysicsJoint rootJointPrim = d6JointsMap[rootJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisRootAPI rootAPI =
pxr::PhysxSchemaPhysxTendonAxisRootAPI::Apply(
rootJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
if (t->limited) {
rootAPI.CreateLowerLimitAttr().Set(t->range[0]);
rootAPI.CreateUpperLimitAttr().Set(t->range[1]);
}
if (t->springlength >= 0) {
rootAPI.CreateRestLengthAttr().Set(t->springlength);
}
rootAPI.CreateStiffnessAttr().Set(t->stiffness);
rootAPI.CreateDampingAttr().Set(t->damping);
pxr::PhysxSchemaPhysxTendonAttachmentAPI(rootAPI, rootAPI.GetName())
.CreateGearingAttr()
.Set(coef);
} else {
CARB_LOG_ERROR("Joint %s required for tendon %s cannot be found",
rootJoint->joint.c_str(), t->name.c_str());
}
// adding TendonAxis api to the other joints in the tendon
for (int i = 0; i < (int)t->fixedJoints.size(); i++) {
if (t->fixedJoints[i]->joint != rootJoint->joint) {
MJCFTendon::FixedJoint *childJoint = t->fixedJoints[i];
pxr::VtArray<float> coef = {childJoint->coef};
if (revoluteJointsMap.find(childJoint->joint) !=
revoluteJointsMap.end()) {
pxr::UsdPhysicsRevoluteJoint childJointPrim =
revoluteJointsMap[childJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisAPI axisAPI =
pxr::PhysxSchemaPhysxTendonAxisAPI::Apply(
childJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
axisAPI.CreateGearingAttr().Set(coef);
} else if (prismaticJointsMap.find(childJoint->joint) !=
prismaticJointsMap.end()) {
pxr::UsdPhysicsPrismaticJoint childJointPrim =
prismaticJointsMap[childJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisAPI axisAPI =
pxr::PhysxSchemaPhysxTendonAxisAPI::Apply(
childJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
axisAPI.CreateGearingAttr().Set(coef);
} else if (d6JointsMap.find(childJoint->joint) !=
d6JointsMap.end()) {
pxr::UsdPhysicsJoint childJointPrim =
d6JointsMap[childJoint->joint];
pxr::PhysxSchemaPhysxTendonAxisAPI axisAPI =
pxr::PhysxSchemaPhysxTendonAxisAPI::Apply(
childJointPrim.GetPrim(),
pxr::TfToken(SanitizeUsdName(t->name)));
axisAPI.CreateGearingAttr().Set(coef);
} else {
CARB_LOG_ERROR("Joint %s required for tendon %s cannot be found",
childJoint->joint.c_str(), t->name.c_str());
}
}
}
} else {
CARB_LOG_ERROR(
"%s cannot be added since it has no specified joints to attach to.",
t->name.c_str());
}
} else if (t->type == MJCFTendon::SPATIAL) {
std::map<std::string, int> attachmentNames;
bool isFirstAttachment = true;
if (t->spatialAttachments.size() > 0) {
for (auto it = t->spatialBranches.begin();
it != t->spatialBranches.end(); it++) {
std::vector<MJCFTendon::SpatialAttachment *> attachments = it->second;
pxr::UsdPrim parentPrim;
std::string parentName;
for (int i = (int)attachments.size() - 1; i >= 0; --i) {
MJCFTendon::SpatialAttachment *attachment = attachments[i];
std::string name;
pxr::UsdPrim linkPrim;
bool hasLink = false;
if (attachment->type == MJCFTendon::SpatialAttachment::GEOM) {
name = attachment->geom;
if (geomToBodyPrim.find(name) != geomToBodyPrim.end()) {
linkPrim = geomToBodyPrim[name];
hasLink = true;
}
} else if (attachment->type ==
MJCFTendon::SpatialAttachment::SITE) {
name = attachment->site;
if (siteToBodyPrim.find(name) != siteToBodyPrim.end()) {
linkPrim = siteToBodyPrim[name];
hasLink = true;
}
}
if (!hasLink) {
pxr::UsdPrim dummyLink =
stage->GetPrimAtPath(pxr::SdfPath(rootPath + "/worldBody"));
// check if they are part of the world sites/geoms
if (attachment->type == MJCFTendon::SpatialAttachment::GEOM) {
name = attachment->geom;
linkPrim = dummyLink;
geomToBodyPrim[name] = dummyLink;
hasLink = true;
} else if (attachment->type ==
MJCFTendon::SpatialAttachment::SITE) {
name = attachment->site;
linkPrim = dummyLink;
siteToBodyPrim[name] = dummyLink;
hasLink = true;
}
if (!hasLink) {
// we shouldn't be here...
CARB_LOG_ERROR("Error adding attachment %s. Failed to find "
"attached link.\n",
name.c_str());
}
}
// create additional attachments if duplicates are found
if (attachmentNames.find(name) != attachmentNames.end()) {
attachmentNames[name]++;
name = name + "_" + std::to_string(attachmentNames[name] - 1);
} else {
attachmentNames[name] = 0;
}
// setting the first attachment link as the AttachmentRoot
if (isFirstAttachment) {
isFirstAttachment = false;
parentPrim = linkPrim;
parentName = name;
auto rootApi =
pxr::PhysxSchemaPhysxTendonAttachmentRootAPI::Apply(
linkPrim, pxr::TfToken(name));
pxr::GfVec3f localPos = GetLocalPos(*attachment);
pxr::PhysxSchemaPhysxTendonAttachmentAPI(rootApi,
pxr::TfToken(name))
.CreateLocalPosAttr()
.Set(localPos);
rootApi.CreateStiffnessAttr().Set(t->stiffness);
rootApi.CreateDampingAttr().Set(t->damping);
}
// last attachment point
else if (i == 0) {
auto leafApi =
pxr::PhysxSchemaPhysxTendonAttachmentLeafAPI::Apply(
linkPrim, pxr::TfToken(name));
pxr::PhysxSchemaPhysxTendonAttachmentAPI(leafApi,
pxr::TfToken(name))
.CreateParentLinkRel()
.AddTarget(parentPrim.GetPath());
pxr::PhysxSchemaPhysxTendonAttachmentAPI(leafApi,
pxr::TfToken(name))
.CreateParentAttachmentAttr()
.Set(pxr::TfToken(parentName));
pxr::GfVec3f localPos = GetLocalPos(*attachment);
pxr::PhysxSchemaPhysxTendonAttachmentAPI(leafApi,
pxr::TfToken(name))
.CreateLocalPosAttr()
.Set(localPos);
}
// intermediate attachment point
else {
auto attachmentApi =
pxr::PhysxSchemaPhysxTendonAttachmentAPI::Apply(
linkPrim, pxr::TfToken(name));
attachmentApi.CreateParentLinkRel().AddTarget(
parentPrim.GetPath());
attachmentApi.CreateParentAttachmentAttr().Set(
pxr::TfToken(parentName));
pxr::GfVec3f localPos = GetLocalPos(*attachment);
attachmentApi.CreateLocalPosAttr().Set(localPos);
}
// set current body as parent
parentName = name;
parentPrim = linkPrim;
}
}
} else {
CARB_LOG_ERROR("Spatial tendon %s cannot be added since it has no "
"attachments specified.",
t->name.c_str());
}
} else {
CARB_LOG_ERROR("Tendon %s is not a fixed or spatial tendon. Only fixed "
"and spatial tendons are currently supported.",
t->name.c_str());
}
}
}
pxr::GfVec3f
MJCFImporter::GetLocalPos(MJCFTendon::SpatialAttachment attachment) {
pxr::GfVec3f localPos;
if (attachment.type == MJCFTendon::SpatialAttachment::GEOM) {
if (geomToBodyPrim.find(attachment.geom) != geomToBodyPrim.end()) {
const pxr::UsdPrim rootPrim = geomToBodyPrim[attachment.geom];
const pxr::UsdPrim geomPrim = geomPrimMap[attachment.geom];
pxr::GfVec3d geomTranslate =
pxr::UsdGeomXformable(geomPrim)
.ComputeLocalToWorldTransform(pxr::UsdTimeCode::Default())
.ExtractTranslation();
pxr::GfVec3d linkTranslate =
pxr::UsdGeomXformable(rootPrim)
.ComputeLocalToWorldTransform(pxr::UsdTimeCode::Default())
.ExtractTranslation();
localPos = pxr::GfVec3f(geomTranslate - linkTranslate);
}
} else if (attachment.type == MJCFTendon::SpatialAttachment::SITE) {
if (siteToBodyPrim.find(attachment.site) != siteToBodyPrim.end()) {
pxr::UsdPrim rootPrim = siteToBodyPrim[attachment.site];
pxr::UsdPrim sitePrim = sitePrimMap[attachment.site];
pxr::GfVec3d siteTranslate =
pxr::UsdGeomXformable(sitePrim)
.ComputeLocalToWorldTransform(pxr::UsdTimeCode::Default())
.ExtractTranslation();
pxr::GfVec3d linkTranslate =
pxr::UsdGeomXformable(rootPrim)
.ComputeLocalToWorldTransform(pxr::UsdTimeCode::Default())
.ExtractTranslation();
localPos = pxr::GfVec3f(siteTranslate - linkTranslate);
}
}
return localPos;
}
void MJCFImporter::CreateInstanceableMeshes(pxr::UsdStageRefPtr stage,
MJCFBody *body,
const std::string rootPrimPath,
const bool isRoot,
const ImportConfig &config) {
if ((!createBodyForFixedJoint) && ((body->joints.size() == 0) && (!isRoot))) {
CARB_LOG_WARN("RigidBodySpec with no joint will have no geometry for now, "
"to avoid instability of fixed joint!");
} else {
if (!body->inertial && body->geoms.size() == 0) {
CARB_LOG_WARN(
"*** Neither inertial nor geometries where specified for %s",
body->name.c_str());
return;
}
std::string bodyPath = rootPrimPath + "/" + SanitizeUsdName(body->name);
// add collision geoms first to detect whether visuals are available
for (int i = 0; i < (int)body->geoms.size(); i++) {
bool isVisual =
body->geoms[i]->contype == 0 && body->geoms[i]->conaffinity == 0;
if (isVisual) {
body->hasVisual = true;
} else {
std::string geomPath =
bodyPath + "/collisions/" + SanitizeUsdName(body->geoms[i]->name);
pxr::UsdPrim prim = createPrimitiveGeom(stage, geomPath, body->geoms[i],
simulationMeshCache, config,
false, rootPrimPath, true);
// enable collisions on prim
if (prim) {
applyCollisionGeom(stage, prim, body->geoms[i]);
nameToUsdCollisionPrim[body->geoms[i]->name] = bodyPath;
} else {
CARB_LOG_ERROR("Collision geom %s could not be created",
body->geoms[i]->name.c_str());
}
}
}
// add visual geoms
addVisualGeom(stage, pxr::UsdPrim(), body, bodyPath, config, true,
rootPrimPath);
// recursively create children's bodies
for (int i = 0; i < (int)body->bodies.size(); i++) {
CreateInstanceableMeshes(stage, body->bodies[i], rootPrimPath, false,
config);
}
}
}
void MJCFImporter::CreatePhysicsBodyAndJoint(
pxr::UsdStageWeakPtr stage, MJCFBody *body, std::string rootPrimPath,
const Transform trans, const bool isRoot, const std::string parentBodyPath,
const ImportConfig &config, const std::string instanceableUsdPath) {
Transform myTrans;
myTrans = trans * Transform(body->pos, body->quat);
int numJoints = (int)body->joints.size();
if ((!createBodyForFixedJoint) && ((body->joints.size() == 0) && (!isRoot))) {
CARB_LOG_WARN("RigidBodySpec with no joint will have no geometry for now, "
"to avoid instability of fixed joint!");
} else {
if (!body->inertial && body->geoms.size() == 0) {
CARB_LOG_WARN(
"*** Neither inertial nor geometries where specified for %s",
body->name.c_str());
return;
}
std::string bodyPath = rootPrimPath + "/" + SanitizeUsdName(body->name);
pxr::UsdGeomXformable bodyPrim =
createBody(stage, bodyPath, myTrans, config);
// add Rigid Body
if (bodyPrim) {
applyRigidBody(bodyPrim, body, config);
} else {
CARB_LOG_ERROR("Body prim %s could not created", body->name.c_str());
return;
}
if (isRoot) {
pxr::UsdGeomXform rootPrim =
pxr::UsdGeomXform::Define(stage, pxr::SdfPath(rootPrimPath));
applyArticulationAPI(stage, rootPrim, config);
if (config.fixBase || numJoints == 0) {
// enable multiple root joints
createFixedRoot(stage,
rootPrimPath + "/joints/rootJoint_" +
SanitizeUsdName(body->name),
rootPrimPath + "/" + SanitizeUsdName(body->name));
}
}
// add collision geoms first to detect whether visuals are available
bool hasCollisionGeoms = false;
for (int i = 0; i < (int)body->geoms.size(); i++) {
bool isVisual =
body->geoms[i]->contype == 0 && body->geoms[i]->conaffinity == 0;
if (isVisual) {
body->hasVisual = true;
} else {
if (!config.makeInstanceable) {
std::string geomPath =
bodyPath + "/collisions/" + SanitizeUsdName(body->geoms[i]->name);
pxr::UsdPrim prim = createPrimitiveGeom(
stage, geomPath, body->geoms[i], simulationMeshCache, config,
false, rootPrimPath, true);
// enable collisions on prim
if (prim) {
applyCollisionGeom(stage, prim, body->geoms[i]);
nameToUsdCollisionPrim[body->geoms[i]->name] = bodyPath;
} else {
CARB_LOG_ERROR("Collision geom %s could not created",
body->geoms[i]->name.c_str());
}
}
hasCollisionGeoms = true;
}
}
if (config.makeInstanceable && hasCollisionGeoms) {
// make main collisions prim instanceable and reference meshes
pxr::SdfPath collisionsPath = pxr::SdfPath(bodyPath + "/collisions");
pxr::UsdPrim collisionsPrim = stage->DefinePrim(collisionsPath);
collisionsPrim.GetReferences().AddReference(instanceableUsdPath,
collisionsPath);
collisionsPrim.SetInstanceable(true);
}
// add visual geoms
bool hasVisualGeoms = addVisualGeom(stage, bodyPrim.GetPrim(), body,
bodyPath, config, false, rootPrimPath);
if (config.makeInstanceable && hasVisualGeoms) {
// make main visuals prim instanceable and reference meshes
pxr::SdfPath visualsPath = pxr::SdfPath(bodyPath + "/visuals");
pxr::UsdPrim visualsPrim = stage->DefinePrim(visualsPath);
visualsPrim.GetReferences().AddReference(instanceableUsdPath,
visualsPath);
visualsPrim.SetInstanceable(true);
}
// add sites
if (config.importSites) {
addVisualSites(stage, bodyPrim.GetPrim(), body, bodyPath, config);
}
// int numJoints = (int)body->joints.size();
// add joints
// create joint linked to parent
// if the body is a root and there is no joint for the root, do not need to
// go into this if statement to create any joints. However, if the root body
// has joints but the import config has fixBase set to true, also no need to
// create any additional joints.
if (!(isRoot && (numJoints == 0 || config.fixBase))) {
// jointSpec transform
Transform origin;
if (body->joints.size() > 0) {
// origin at last joint (deepest)
origin.p = body->joints[0]->pos;
} else {
origin.p = Vec3(0.0f, 0.0f, 0.0f);
}
// compute joint frame and map joint axes to D6 axes
int axisMap[3] = {0, 1, 2};
computeJointFrame(origin, axisMap, body);
origin = myTrans * origin;
Transform ptran = trans;
Transform mtran = myTrans;
Transform ppose = (Inverse(ptran)) * origin;
Transform cpose = (Inverse(mtran)) * origin;
std::string jointPath =
rootPrimPath + "/joints/" + SanitizeUsdName(body->name);
int numJoints = (int)body->joints.size();
if (numJoints == 0) {
Transform poseJointToParentBody = Transform(body->pos, body->quat);
Transform poseJointToChildBody = Transform();
pxr::UsdPhysicsJoint jointPrim = createFixedJoint(
stage, jointPath, poseJointToParentBody, poseJointToChildBody,
parentBodyPath, bodyPath, config);
} else if (numJoints == 1) {
Transform poseJointToParentBody = Transform(ppose.p, ppose.q);
Transform poseJointToChildBody = Transform(cpose.p, cpose.q);
MJCFJoint *joint = body->joints.front();
std::string jointPath =
rootPrimPath + "/joints/" + SanitizeUsdName(joint->name);
auto actuatorIterator = jointToActuatorIdx.find(joint->name);
int actuatorIdx = actuatorIterator != jointToActuatorIdx.end()
? actuatorIterator->second
: -1;
MJCFActuator *actuator = nullptr;
if (actuatorIdx != -1) {
actuatorIdx = actuatorIterator->second;
actuator = actuators[actuatorIdx];
}
if (joint->type == MJCFJoint::HINGE) {
pxr::UsdPhysicsRevoluteJoint jointPrim =
pxr::UsdPhysicsRevoluteJoint::Define(stage,
pxr::SdfPath(jointPath));
initPhysicsJoint(jointPrim, poseJointToParentBody,
poseJointToChildBody, parentBodyPath, bodyPath,
config.distanceScale);
applyPhysxJoint(jointPrim, joint);
// joint was aligned such that its hinge axis is aligned with local
// x-axis.
jointPrim.CreateAxisAttr().Set(pxr::UsdPhysicsTokens->x);
if (joint->limited) {
jointPrim.CreateLowerLimitAttr().Set(joint->range.x * 180 / kPi);
jointPrim.CreateUpperLimitAttr().Set(joint->range.y * 180 / kPi);
}
pxr::PhysxSchemaPhysxLimitAPI physxLimitAPI =
pxr::PhysxSchemaPhysxLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(pxr::UsdPhysicsTokens->x));
physxLimitAPI.CreateStiffnessAttr().Set(joint->stiffness);
physxLimitAPI.CreateDampingAttr().Set(joint->damping);
revoluteJointsMap[joint->name] = jointPrim;
createJointDrives(jointPrim, joint, actuator, "X", config);
} else if (joint->type == MJCFJoint::SLIDE) {
pxr::UsdPhysicsPrismaticJoint jointPrim =
pxr::UsdPhysicsPrismaticJoint::Define(stage,
pxr::SdfPath(jointPath));
initPhysicsJoint(jointPrim, poseJointToParentBody,
poseJointToChildBody, parentBodyPath, bodyPath,
config.distanceScale);
applyPhysxJoint(jointPrim, joint);
// joint was aligned such that its hinge axis is aligned with local
// x-axis.
jointPrim.CreateAxisAttr().Set(pxr::UsdPhysicsTokens->x);
if (joint->limited) {
jointPrim.CreateLowerLimitAttr().Set(config.distanceScale *
joint->range.x);
jointPrim.CreateUpperLimitAttr().Set(config.distanceScale *
joint->range.y);
}
pxr::PhysxSchemaPhysxLimitAPI physxLimitAPI =
pxr::PhysxSchemaPhysxLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(pxr::UsdPhysicsTokens->x));
physxLimitAPI.CreateStiffnessAttr().Set(joint->stiffness);
physxLimitAPI.CreateDampingAttr().Set(joint->damping);
prismaticJointsMap[joint->name] = jointPrim;
createJointDrives(jointPrim, joint, actuator, "X", config);
} else if (joint->type == MJCFJoint::BALL) {
pxr::UsdPhysicsJoint jointPrim = createD6Joint(
stage, jointPath, poseJointToParentBody, poseJointToChildBody,
parentBodyPath, bodyPath, config);
applyPhysxJoint(jointPrim, body->joints[0]);
// lock all translational axes to create a D6 joint.
std::string translationAxes[6] = {"transX", "transY", "transZ"};
for (int i = 0; i < 3; ++i) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(translationAxes[i]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
}
d6JointsMap[joint->name] = jointPrim;
} else if (joint->type == MJCFJoint::FREE) {
} else {
CARB_LOG_WARN("*** Only hinge, slide, ball, and free joints are "
"supported by MJCF importer");
}
} else {
Transform poseJointToParentBody = Transform(ppose.p, ppose.q);
Transform poseJointToChildBody = Transform(cpose.p, cpose.q);
pxr::UsdPhysicsJoint jointPrim = createD6Joint(
stage, jointPath, poseJointToParentBody, poseJointToChildBody,
parentBodyPath, bodyPath, config);
applyPhysxJoint(jointPrim, body->joints[0]);
// TODO: this needs to be updated to support all joint types and
// combinations set joint limits
for (int jid = 0; jid < (int)body->joints.size(); jid++) {
// all locked
for (int k = 0; k < 6; ++k) {
body->joints[jid]->velocityLimits[k] = 100.f;
}
if (body->joints[jid]->type != MJCFJoint::HINGE &&
body->joints[jid]->type != MJCFJoint::SLIDE) {
CARB_LOG_WARN("*** Only hinge and slide joints are supported by "
"MJCF importer");
continue;
}
if (body->joints[jid]->ref != 0.0f) {
CARB_LOG_WARN(
"Don't know how to deal with joint with ref != 0 yet");
}
// actuators - TODO: how do we set this part? what do we need to set?
auto actuatorIterator =
jointToActuatorIdx.find(body->joints[jid]->name);
int actuatorIdx = actuatorIterator != jointToActuatorIdx.end()
? actuatorIterator->second
: -1;
MJCFActuator *actuator = nullptr;
if (actuatorIdx != -1) {
actuatorIdx = actuatorIterator->second;
actuator = actuators[actuatorIdx];
}
applyJointLimits(jointPrim, body->joints[jid], actuator, axisMap, jid,
numJoints, config);
d6JointsMap[body->joints[jid]->name] = jointPrim;
}
}
}
// recursively create children's bodies
for (int i = 0; i < (int)body->bodies.size(); i++) {
CreatePhysicsBodyAndJoint(stage, body->bodies[i], rootPrimPath, myTrans,
false, bodyPath, config, instanceableUsdPath);
}
}
}
void MJCFImporter::computeJointFrame(Transform &origin, int *axisMap,
const MJCFBody *body) {
if (body->joints.size() == 0) {
origin.q = Quat();
} else {
if (body->joints.size() == 1) {
// align D6 x-axis with the given axis
origin.q = GetRotationQuat({1.0f, 0.0f, 0.0f}, body->joints[0]->axis);
} else if (body->joints.size() == 2) {
Quat Q = GetRotationQuat(body->joints[0]->axis, {1.0f, 0.0f, 0.0f});
Vec3 a = {1.0f, 0.0f, 0.0f};
Vec3 b = Normalize(Rotate(Q, body->joints[1]->axis));
if (fabs(Dot(a, b)) > 1e-4f) {
CARB_LOG_WARN("*** Non-othogonal joint axes are not supported");
// exit(0);
}
// map third axis to D6 y- or z-axis and compute third axis accordingly
Vec3 c;
if (std::fabs(Dot(b, {0.0f, 1.0f, 0.0f})) >
std::fabs(Dot(b, {0.0f, 0.0f, 1.0f}))) {
axisMap[1] = 1;
c = Normalize(Cross(body->joints[0]->axis, body->joints[1]->axis));
Matrix33 M(Normalize(body->joints[0]->axis),
Normalize(body->joints[1]->axis), c);
origin.q = Quat(M);
} else {
axisMap[1] = 2;
axisMap[2] = 1;
c = Normalize(Cross(body->joints[1]->axis, body->joints[0]->axis));
Matrix33 M(Normalize(body->joints[0]->axis), c,
Normalize(body->joints[1]->axis));
origin.q = Quat(M);
}
} else if (body->joints.size() == 3) {
Quat Q = GetRotationQuat(body->joints[0]->axis, {1.0f, 0.0f, 0.0f});
Vec3 a = {1.0f, 0.0f, 0.0f};
Vec3 b = Normalize(Rotate(Q, body->joints[1]->axis));
Vec3 c = Normalize(Rotate(Q, body->joints[2]->axis));
if (fabs(Dot(a, b)) > 1e-4f || fabs(Dot(a, c)) > 1e-4f ||
fabs(Dot(b, c)) > 1e-4f) {
CARB_LOG_WARN("*** Non-othogonal joint axes are not supported");
// exit(0);
}
if (std::fabs(Dot(b, {0.0f, 1.0f, 0.0f})) >
std::fabs(Dot(b, {0.0f, 0.0f, 1.0f}))) {
axisMap[1] = 1;
axisMap[2] = 2;
Matrix33 M(Normalize(body->joints[0]->axis),
Normalize(body->joints[1]->axis),
Normalize(body->joints[2]->axis));
origin.q = Quat(M);
} else {
axisMap[1] = 2;
axisMap[2] = 1;
Matrix33 M(Normalize(body->joints[0]->axis),
Normalize(body->joints[2]->axis),
Normalize(body->joints[1]->axis));
origin.q = Quat(M);
}
} else {
CARB_LOG_ERROR("*** Don't know how to handle >3 joints per body pair");
exit(0);
}
}
}
bool MJCFImporter::contactBodyExclusion(MJCFBody *body1, MJCFBody *body2) {
// Assumes that contact graph is already set up
// handle current geoms first
for (MJCFGeom *geom1 : body1->geoms) {
if (geom1->conaffinity & geom1->contype) {
for (MJCFGeom *geom2 : body2->geoms) {
if (geom2->conaffinity & geom2->contype) {
auto index1 = geomNameToIdx.find(geom1->name);
auto index2 = geomNameToIdx.find(geom2->name);
if (index1 == geomNameToIdx.end() || index2 == geomNameToIdx.end()) {
return false;
}
int geomIndex1 = index1->second;
int geomIndex2 = index2->second;
contactGraph[geomIndex1]->adjacentNodes.erase(geomIndex2);
contactGraph[geomIndex2]->adjacentNodes.erase(geomIndex1);
}
}
}
}
return true;
}
bool MJCFImporter::createContactGraph() {
contactGraph = std::vector<ContactNode *>();
// initialize nodes with no contacts
for (int i = 0; i < int(collisionGeoms.size()); ++i) {
ContactNode *node = new ContactNode();
node->name = collisionGeoms[i]->name;
contactGraph.push_back(node);
}
// First check pairwise compatability with contype/conaffinity
for (int i = 0; i < int(collisionGeoms.size()) - 1; ++i) {
for (int j = i + 1; j < int(collisionGeoms.size()); ++j) {
MJCFGeom *geom1 = collisionGeoms[i];
MJCFGeom *geom2 = collisionGeoms[j];
if ((geom1->contype & geom2->conaffinity) ||
(geom2->contype && geom1->conaffinity)) {
contactGraph[i]->adjacentNodes.insert(j);
contactGraph[j]->adjacentNodes.insert(i);
}
}
}
// Handle contact specifications
for (auto &contact : contacts) {
if (contact->type == MJCFContact::PAIR) {
auto index1 = geomNameToIdx.find(contact->geom1);
auto index2 = geomNameToIdx.find(contact->geom2);
if (index1 == geomNameToIdx.end() || index2 == geomNameToIdx.end()) {
return false;
}
int geomIndex1 = index1->second;
int geomIndex2 = index2->second;
contactGraph[geomIndex1]->adjacentNodes.insert(geomIndex2);
contactGraph[geomIndex2]->adjacentNodes.insert(geomIndex1);
} else if (contact->type == MJCFContact::EXCLUDE) {
// this is on the level of bodies, not geoms
auto body1 = nameToBody.find(contact->body1);
auto body2 = nameToBody.find(contact->body2);
if (body1 == nameToBody.end() || body2 == nameToBody.end()) {
return false;
}
if (!contactBodyExclusion(body1->second, body2->second)) {
return false;
}
}
}
return true;
}
void MJCFImporter::computeKinematicHierarchy() {
// prepare bodyQueue for breadth-first search
for (int i = 0; i < int(bodies.size()); i++) {
bodyQueue.push(bodies[i]);
}
int level_num = 0;
int num_bodies_at_level;
while (bodyQueue.size() != 0) {
num_bodies_at_level = (int)bodyQueue.size();
for (int i = 0; i < num_bodies_at_level; i++) {
MJCFBody *body = bodyQueue.front();
bodyQueue.pop();
for (MJCFBody *childBody : body->bodies) {
bodyQueue.push(childBody);
}
for (MJCFJoint *joint : body->joints) {
jointToKinematicHierarchy[joint->name] = level_num;
}
}
level_num += 1;
}
}
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfParser.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include "MjcfParser.h"
#include "MeshImporter.h"
#include "MjcfUtils.h"
#include <carb/logging/Log.h>
namespace omni {
namespace importer {
namespace mjcf {
int bodyIdxCount = 0;
int geomIdxCount = 0;
int siteIdxCount = 0;
int jointIdxCount = 0;
tinyxml2::XMLElement *LoadInclude(tinyxml2::XMLDocument &doc,
const tinyxml2::XMLElement *c,
const std::string baseDirPath) {
if (c) {
std::string s;
if ((s = GetAttr(c, "file")) != "") {
std::string fileName(s);
std::string filePath = baseDirPath + fileName;
tinyxml2::XMLElement *root = LoadFile(doc, filePath);
return root;
}
}
return nullptr;
}
void LoadCompiler(tinyxml2::XMLElement *c, MJCFCompiler &compiler) {
if (c) {
std::string s;
if ((s = GetAttr(c, "eulerseq")) != "") {
for (int i = (int)s.length() - 1; i >= 0; i--) {
char axis = s[i];
if (axis == 'X' || axis == 'Y' || axis == 'Z') {
CARB_LOG_ERROR("The MJCF importer currently only supports intrinsic "
"euler rotations!");
}
}
compiler.eulerseq = s;
}
if ((s = GetAttr(c, "angle")) != "") {
compiler.angleInRad = (s == "radian");
}
if ((s = GetAttr(c, "inertiafromgeom")) != "") {
compiler.inertiafromgeom = (s == "true");
}
if ((s = GetAttr(c, "coordinate")) != "") {
compiler.coordinateInLocal = (s == "local");
if (!compiler.coordinateInLocal) {
CARB_LOG_ERROR(
"The global coordinate is no longer supported by MuJoCo!");
}
}
getIfExist(c, "meshdir", compiler.meshDir);
getIfExist(c, "texturedir", compiler.textureDir);
getIfExist(c, "autolimits", compiler.autolimits);
}
}
void LoadInertial(tinyxml2::XMLElement *i, MJCFInertial &inertial) {
if (!i) {
return;
}
getIfExist(i, "mass", inertial.mass);
getIfExist(i, "pos", inertial.pos);
getIfExist(i, "diaginertia", inertial.diaginertia);
float fullInertia[6];
const char *st = i->Attribute("fullinertia");
if (st) {
sscanf(st, "%f %f %f %f %f %f", &fullInertia[0], &fullInertia[1],
&fullInertia[2], &fullInertia[3], &fullInertia[4], &fullInertia[5]);
inertial.hasFullInertia = true;
Matrix33 inertiaMatrix;
inertiaMatrix.cols[0] =
Vec3(fullInertia[0], fullInertia[3], fullInertia[4]);
inertiaMatrix.cols[1] =
Vec3(fullInertia[3], fullInertia[1], fullInertia[5]);
inertiaMatrix.cols[2] =
Vec3(fullInertia[4], fullInertia[5], fullInertia[2]);
Quat principalAxes;
inertial.diaginertia = Diagonalize(inertiaMatrix, principalAxes);
inertial.principalAxes = principalAxes;
}
}
void LoadGeom(tinyxml2::XMLElement *g, MJCFGeom &geom, std::string className,
MJCFCompiler &compiler, std::map<std::string, MJCFClass> &classes,
bool isDefault) {
if (!g) {
return;
}
if (g->Attribute("class"))
className = g->Attribute("class");
geom = classes[className].dgeom;
getIfExist(g, "conaffinity", geom.conaffinity);
getIfExist(g, "condim", geom.condim);
getIfExist(g, "contype", geom.contype);
getIfExist(g, "margin", geom.margin);
getIfExist(g, "friction", geom.friction);
getIfExist(g, "material", geom.material);
getIfExist(g, "rgba", geom.rgba);
getIfExist(g, "solimp", geom.solimp);
getIfExist(g, "solref", geom.solref);
getIfExist(g, "fromto", geom.from, geom.to);
getIfExist(g, "size", geom.size);
getIfExist(g, "name", geom.name);
getIfExist(g, "pos", geom.pos);
getEulerIfExist(g, "euler", geom.quat, compiler.eulerseq,
compiler.angleInRad);
getAngleAxisIfExist(g, "axisangle", geom.quat, compiler.angleInRad);
getZAxisIfExist(g, "zaxis", geom.quat);
getIfExist(g, "quat", geom.quat);
getIfExist(g, "density", geom.density);
getIfExist(g, "mesh", geom.mesh);
if (geom.name == "" && !isDefault) {
geom.name = "_geom_" + std::to_string(geomIdxCount);
geomIdxCount++;
}
if (g->Attribute("fromto")) {
geom.hasFromTo = true;
}
std::string type = "";
getIfExist(g, "type", type);
if (type == "capsule") {
geom.type = MJCFGeom::CAPSULE;
} else if (type == "sphere") {
geom.type = MJCFGeom::SPHERE;
} else if (type == "ellipsoid") {
geom.type = MJCFGeom::ELLIPSOID;
} else if (type == "cylinder") {
geom.type = MJCFGeom::CYLINDER;
} else if (type == "box") {
geom.type = MJCFGeom::BOX;
} else if (type == "mesh") {
geom.type = MJCFGeom::MESH;
} else if (type == "plane") {
geom.type = MJCFGeom::PLANE;
} else if (type != "") {
geom.type = MJCFGeom::OTHER;
std::cout << "Geom type " << type << " not yet supported!" << std::endl;
}
if (!isDefault && geom.name == "") {
geom.name = type;
}
}
void LoadSite(tinyxml2::XMLElement *s, MJCFSite &site, std::string className,
MJCFCompiler &compiler, std::map<std::string, MJCFClass> &classes,
bool isDefault) {
if (!s) {
return;
}
if (s->Attribute("class"))
className = s->Attribute("class");
site = classes[className].dsite;
getIfExist(s, "material", site.material);
getIfExist(s, "rgba", site.rgba);
getIfExist(s, "fromto", site.from, site.to);
getIfExist(s, "size", site.size);
getIfExist(s, "name", site.name);
getIfExist(s, "pos", site.pos);
getEulerIfExist(s, "euler", site.quat, compiler.eulerseq,
compiler.angleInRad);
getAngleAxisIfExist(s, "axisangle", site.quat, compiler.angleInRad);
getZAxisIfExist(s, "zaxis", site.quat);
getIfExist(s, "quat", site.quat);
if (site.name == "" && !isDefault) {
site.name = "_site_" + std::to_string(siteIdxCount);
siteIdxCount++;
}
if (s->Attribute("fromto") || classes[className].dsite.hasFromTo) {
site.hasFromTo = true;
}
if ((!s->Attribute("size") && !classes[className].dsite.hasGeom) &&
!site.hasFromTo) {
site.hasGeom = false;
}
std::string type = "";
getIfExist(s, "type", type);
if (type == "capsule") {
site.type = MJCFSite::CAPSULE;
} else if (type == "sphere") {
site.type = MJCFSite::SPHERE;
} else if (type == "ellipsoid") {
site.type = MJCFSite::ELLIPSOID;
} else if (type == "cylinder") {
site.type = MJCFSite::CYLINDER;
} else if (type == "box") {
site.type = MJCFSite::BOX;
} else if (type != "") {
std::cout << "Site type " << type << " not yet supported!" << std::endl;
}
if (!isDefault && site.name == "") {
site.name = type;
}
}
void LoadMesh(tinyxml2::XMLElement *m, MJCFMesh &mesh, std::string className,
MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes) {
if (!m) {
return;
}
if (m->Attribute("class"))
className = m->Attribute("class");
mesh = classes[className].dmesh;
getIfExist(m, "name", mesh.name);
getIfExist(m, "file", mesh.filename);
getIfExist(m, "scale", mesh.scale);
}
void LoadActuator(tinyxml2::XMLElement *g, MJCFActuator &actuator,
std::string className, MJCFActuator::Type type,
std::map<std::string, MJCFClass> &classes) {
if (!g) {
return;
}
if (g->Attribute("class")) {
className = g->Attribute("class");
}
actuator = classes[className].dactuator;
actuator.type = type;
getIfExist(g, "ctrllimited", actuator.ctrllimited);
getIfExist(g, "forcelimited", actuator.forcelimited);
getIfExist(g, "ctrlrange", actuator.ctrlrange);
getIfExist(g, "forcerange", actuator.forcerange);
getIfExist(g, "gear", actuator.gear);
getIfExist(g, "joint", actuator.joint);
getIfExist(g, "name", actuator.name);
// actuator specific attributes
getIfExist(g, "kp", actuator.kp);
getIfExist(g, "kv", actuator.kv);
}
void LoadContact(tinyxml2::XMLElement *g, MJCFContact &contact,
MJCFContact::Type type,
std::map<std::string, MJCFClass> &classes) {
if (!g) {
return;
}
getIfExist(g, "name", contact.name);
if (type == MJCFContact::PAIR) {
getIfExist(g, "geom1", contact.geom1);
getIfExist(g, "geom2", contact.geom2);
getIfExist(g, "condim", contact.condim);
} else if (type == MJCFContact::EXCLUDE) {
getIfExist(g, "body1", contact.body1);
getIfExist(g, "body2", contact.body2);
}
contact.type = type;
}
void LoadTendon(tinyxml2::XMLElement *t, MJCFTendon &tendon,
std::string className, MJCFTendon::Type type,
std::map<std::string, MJCFClass> &classes) {
if (!t) {
return;
}
if (t->Attribute("class"))
className = t->Attribute("class");
tendon = classes[className].dtendon;
tendon.type = type;
// parse tendon parameters:
getIfExist(t, "name", tendon.name);
getIfExist(t, "limited", tendon.limited);
getIfExist(t, "range", tendon.range);
getIfExist(t, "solimplimit", tendon.solimplimit);
getIfExist(t, "solreflimit", tendon.solreflimit);
getIfExist(t, "solimpfriction", tendon.solimpfriction);
getIfExist(t, "solreffriction", tendon.solreffriction);
getIfExist(t, "margin", tendon.margin);
getIfExist(t, "frictionloss", tendon.frictionloss);
getIfExist(t, "width", tendon.width);
getIfExist(t, "material", tendon.material);
getIfExist(t, "rgba", tendon.rgba);
getIfExist(t, "springlength", tendon.springlength);
if (tendon.springlength < 0.0f) {
CARB_LOG_WARN("*** Automatic tendon springlength calculation is not "
"supported (negative springlengths).");
}
getIfExist(t, "stiffness", tendon.stiffness);
getIfExist(t, "damping", tendon.damping);
// and then go through the joints in the fixed tendon:
if (type == MJCFTendon::FIXED) {
tinyxml2::XMLElement *j = t->FirstChildElement("joint");
while (j) {
// parse fixed joint:
if (!j->Attribute("joint")) {
CARB_LOG_FATAL("*** Fixed tendon joint must have a joint attribute.");
}
if (!j->Attribute("coef")) {
CARB_LOG_FATAL("*** Fixed tendon joint must have a coef attribute.");
}
MJCFTendon::FixedJoint *jnt = new MJCFTendon::FixedJoint();
getIfExist(j, "joint", jnt->joint);
getIfExist(j, "coef", jnt->coef);
// if coef nonzero, add:
if (0.0f != jnt->coef) {
tendon.fixedJoints.push_back(jnt);
}
// scan for next joint in tendon:
j = j->NextSiblingElement("joint");
}
}
// attributes for spatial teondon
if (type == MJCFTendon::SPATIAL) {
tinyxml2::XMLElement *x = t->FirstChildElement();
while (x) {
int branch = 0;
if (std::string(x->Value()).compare("geom") == 0) {
MJCFTendon::SpatialAttachment *attachment =
new MJCFTendon::SpatialAttachment();
attachment->type = MJCFTendon::SpatialAttachment::GEOM;
getIfExist(x, "geom", attachment->geom);
getIfExist(x, "sidesite", attachment->sidesite);
attachment->branch = branch;
if (attachment->geom != "") {
tendon.spatialAttachments.push_back(attachment);
tendon.spatialBranches[branch].push_back(attachment);
} else
CARB_LOG_FATAL("*** Spatial tendon geom must be specified.");
} else if (std::string(x->Value()).compare("site") == 0) {
MJCFTendon::SpatialAttachment *attachment =
new MJCFTendon::SpatialAttachment();
attachment->type = MJCFTendon::SpatialAttachment::SITE;
getIfExist(x, "site", attachment->site);
attachment->branch = branch;
if (attachment->site != "") {
tendon.spatialAttachments.push_back(attachment);
tendon.spatialBranches[branch].push_back(attachment);
} else
CARB_LOG_FATAL("*** Spatial tendon site must be specified.");
} else if (std::string(x->Value()).compare("pulley") == 0) {
MJCFTendon::SpatialPulley *pulley = new MJCFTendon::SpatialPulley();
getIfExist(x, "divisor", pulley->divisor);
if (pulley->divisor > 0.0) {
branch++;
pulley->branch = branch;
tendon.spatialPulleys.push_back(pulley);
} else
CARB_LOG_FATAL(
"*** Spatial tendon pulley divisor must be specified.");
} else {
CARB_LOG_WARN("Found unknown tag %s in tendon.\n", x->Value());
}
x = x->NextSiblingElement();
}
}
}
void LoadJoint(tinyxml2::XMLElement *g, MJCFJoint &joint, std::string className,
MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes, bool isDefault) {
if (!g) {
return;
}
if (g->Attribute("class"))
className = g->Attribute("class");
joint = classes[className].djoint;
std::string type = "";
getIfExist(g, "type", type);
if (type == "hinge") {
joint.type = MJCFJoint::HINGE;
} else if (type == "slide") {
joint.type = MJCFJoint::SLIDE;
} else if (type == "ball") {
joint.type = MJCFJoint::BALL;
} else if (type == "free") {
joint.type = MJCFJoint::FREE;
} else if (type != "") {
std::cout << "JointSpec type " << type << " not yet supported!"
<< std::endl;
}
getIfExist(g, "ref", joint.ref);
getIfExist(g, "armature", joint.armature);
getIfExist(g, "damping", joint.damping);
getIfExist(g, "limited", joint.limited);
getIfExist(g, "axis", joint.axis);
getIfExist(g, "name", joint.name);
getIfExist(g, "pos", joint.pos);
getIfExist(g, "range", joint.range);
const char *st = g->Attribute("range");
if (st) {
sscanf(st, "%f %f", &joint.range.x, &joint.range.y);
if (compiler.autolimits) {
// set limited to true if a range is specified and autolimits is set to
// true
joint.limited = true;
}
}
if (joint.type != MJCFJoint::Type::SLIDE && !compiler.angleInRad) {
// cout << "Angle in deg" << endl;
joint.range.x = kPi * joint.range.x / 180.0f;
joint.range.y = kPi * joint.range.y / 180.0f;
}
getIfExist(g, "stiffness", joint.stiffness);
joint.axis = Normalize(joint.axis);
if (joint.name == "" && !isDefault) {
joint.name = "_joint_" + std::to_string(jointIdxCount);
jointIdxCount++;
}
}
void LoadFreeJoint(tinyxml2::XMLElement *g, MJCFJoint &joint,
std::string className, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes, bool isDefault) {
if (!g) {
return;
}
if (g->Attribute("class"))
className = g->Attribute("class");
joint = classes[className].djoint;
joint.type = MJCFJoint::FREE;
getIfExist(g, "name", joint.name);
if (joint.name == "" && !isDefault) {
joint.name = "_joint_" + std::to_string(jointIdxCount);
jointIdxCount++;
}
}
void LoadDefault(tinyxml2::XMLElement *e, const std::string className,
MJCFClass &cl, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes) {
LoadJoint(e->FirstChildElement("joint"), cl.djoint, className, compiler,
classes, true);
LoadGeom(e->FirstChildElement("geom"), cl.dgeom, className, compiler, classes,
true);
LoadSite(e->FirstChildElement("site"), cl.dsite, className, compiler, classes,
true);
LoadTendon(e->FirstChildElement("tendon"), cl.dtendon, className,
MJCFTendon::DEFAULT, classes);
LoadMesh(e->FirstChildElement("mesh"), cl.dmesh, className, compiler,
classes);
// a defaults class should have one general actuator element, so only one of
// these should be sucessful
LoadActuator(e->FirstChildElement("motor"), cl.dactuator, className,
MJCFActuator::MOTOR, classes);
LoadActuator(e->FirstChildElement("position"), cl.dactuator, className,
MJCFActuator::POSITION, classes);
LoadActuator(e->FirstChildElement("velocity"), cl.dactuator, className,
MJCFActuator::VELOCITY, classes);
LoadActuator(e->FirstChildElement("general"), cl.dactuator, className,
MJCFActuator::GENERAL, classes);
tinyxml2::XMLElement *d = e->FirstChildElement("default");
// while there is child default
while (d) {
// must have a name
if (!d->Attribute("class")) {
CARB_LOG_ERROR("Non-top level class must have name");
}
std::string name = d->Attribute("class");
classes[name] = cl; // Copy from this class
LoadDefault(d, name, classes[name], compiler,
classes); // Recursively load it
d = d->NextSiblingElement("default");
}
}
void LoadBody(tinyxml2::XMLElement *g, std::vector<MJCFBody *> &bodies,
MJCFBody &body, std::string className, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes,
std::string baseDirPath) {
if (!g) {
return;
}
if (g->Attribute("childclass")) {
className = g->Attribute("childclass");
}
getIfExist(g, "name", body.name);
getIfExist(g, "pos", body.pos);
getEulerIfExist(g, "euler", body.quat, compiler.eulerseq,
compiler.angleInRad);
getAngleAxisIfExist(g, "axisangle", body.quat, compiler.angleInRad);
getZAxisIfExist(g, "zaxis", body.quat);
getIfExist(g, "quat", body.quat);
if (body.name == "") {
body.name = "_body_" + std::to_string(bodyIdxCount);
bodyIdxCount++;
}
// load interial
tinyxml2::XMLElement *c = g->FirstChildElement("inertial");
if (c) {
body.inertial = new MJCFInertial();
LoadInertial(c, *body.inertial);
}
// load geoms
c = g->FirstChildElement("geom");
while (c) {
body.geoms.push_back(new MJCFGeom());
LoadGeom(c, *body.geoms.back(), className, compiler, classes, false);
c = c->NextSiblingElement("geom");
}
// load sites
c = g->FirstChildElement("site");
while (c) {
body.sites.push_back(new MJCFSite());
LoadSite(c, *body.sites.back(), className, compiler, classes, false);
c = c->NextSiblingElement("site");
}
// load joints
c = g->FirstChildElement("joint");
while (c) {
body.joints.push_back(new MJCFJoint());
LoadJoint(c, *body.joints.back(), className, compiler, classes, false);
c = c->NextSiblingElement("joint");
}
// load freejoint
c = g->FirstChildElement("freejoint");
if (c) {
body.joints.push_back(new MJCFJoint());
LoadFreeJoint(c, *body.joints.back(), className, compiler, classes, false);
}
// load imports
c = g->FirstChildElement("include");
while (c) {
tinyxml2::XMLDocument includeDoc;
tinyxml2::XMLElement *includeRoot = LoadInclude(includeDoc, c, baseDirPath);
if (includeRoot) {
tinyxml2::XMLElement *d = includeRoot->FirstChildElement("body");
while (d) {
bodies.push_back(new MJCFBody());
LoadBody(d, bodies, *bodies.back(), className, compiler, classes,
baseDirPath);
d = d->NextSiblingElement("body");
}
}
c = c->NextSiblingElement("include");
}
// load child bodies
c = g->FirstChildElement("body");
while (c) {
body.bodies.push_back(new MJCFBody());
LoadBody(c, bodies, *body.bodies.back(), className, compiler, classes,
baseDirPath);
c = c->NextSiblingElement("body");
}
}
tinyxml2::XMLElement *LoadFile(tinyxml2::XMLDocument &doc,
const std::string filePath) {
if (doc.LoadFile(filePath.c_str()) != tinyxml2::XML_SUCCESS) {
CARB_LOG_ERROR("*** Failed to load '%s'", filePath.c_str());
return nullptr;
}
tinyxml2::XMLElement *root = doc.RootElement();
if (!root) {
CARB_LOG_ERROR("*** Empty document '%s'", filePath.c_str());
}
return root;
}
void LoadAssets(tinyxml2::XMLElement *a, std::string baseDirPath,
MJCFCompiler &compiler,
std::map<std::string, MeshInfo> &simulationMeshCache,
std::map<std::string, MJCFMesh> &meshes,
std::map<std::string, MJCFMaterial> &materials,
std::map<std::string, MJCFTexture> &textures,
std::string className,
std::map<std::string, MJCFClass> &classes,
ImportConfig &config) {
tinyxml2::XMLElement *m = a->FirstChildElement("mesh");
while (m) {
MJCFMesh mMesh = MJCFMesh();
LoadMesh(m, mMesh, className, compiler, classes);
std::string meshName = mMesh.name;
std::string meshFile = mMesh.filename;
Vec3 meshScale = mMesh.scale;
// if (config.meshRootDirectory != "")
// baseDirPath = config.meshRootDirectory;
std::string meshPath = baseDirPath + compiler.meshDir + "/" + meshFile;
if (meshName == "") {
if (meshFile != "") {
size_t lastindex = meshFile.find_last_of(".");
meshName = meshFile.substr(0, lastindex);
} else {
CARB_LOG_ERROR("*** Mesh missing name and file attributes!\n");
}
}
meshes[meshName] = mMesh;
std::map<std::string, MeshInfo>::iterator it =
simulationMeshCache.find(meshName);
Mesh *mesh = nullptr;
if (it == simulationMeshCache.end()) {
Vec3 scale{1.f};
mesh::MeshImporter meshImporter;
mesh = meshImporter.loadMeshAssimp(meshPath.c_str(), scale,
GymMeshNormalMode::eComputePerFace);
if (!mesh) {
CARB_LOG_ERROR("*** Failed to load '%s'!\n", meshPath.c_str());
}
if (meshScale.x != 1.0f || meshScale.y != 1.0f || meshScale.z != 1.0f) {
mesh->Transform(ScaleMatrix(meshScale));
}
mesh->name = meshName;
// use flat normals on collision shapes
mesh->CalculateFaceNormals();
GymMeshHandle gymMeshHandle = -1;
MeshInfo meshInfo;
meshInfo.mesh = mesh;
meshInfo.meshHandle = gymMeshHandle;
simulationMeshCache[meshName] = meshInfo;
} else {
mesh = it->second.mesh;
}
m = m->NextSiblingElement("mesh");
}
tinyxml2::XMLElement *mat = a->FirstChildElement("material");
while (mat) {
std::string matName = "", texture = "";
float matSpecular = 0.5f, matShininess = 0.0f;
Vec4 rgba = Vec4(0.2f, 0.2f, 0.2f, 1.0f);
getIfExist(mat, "name", matName);
getIfExist(mat, "specular", matSpecular);
getIfExist(mat, "shininess", matShininess);
getIfExist(mat, "texture", texture);
getIfExist(mat, "rgba", rgba);
MJCFMaterial material;
material.name = matName;
material.texture = texture;
material.specular = matSpecular;
material.shininess = matShininess;
material.rgba = rgba;
materials[matName] = material;
mat = mat->NextSiblingElement("material");
}
tinyxml2::XMLElement *tex = a->FirstChildElement("texture");
while (tex) {
std::string texName = "", texFile = "", gridsize = "", gridlayout = "",
type = "";
getIfExist(tex, "name", texName);
getIfExist(tex, "file", texFile);
getIfExist(tex, "gridsize", gridsize);
getIfExist(tex, "gridlayout", gridlayout);
getIfExist(tex, "type", type);
if (texFile != "") {
texFile = baseDirPath + compiler.textureDir + "/" + texFile;
}
MJCFTexture texture = MJCFTexture();
texture.name = texName;
texture.filename = texFile;
texture.gridsize = gridsize;
texture.gridlayout = gridlayout;
texture.type = type;
textures[texName] = texture;
tex = tex->NextSiblingElement("texture");
}
}
void LoadGlobals(
tinyxml2::XMLElement *root, std::string &defaultClassName,
std::string baseDirPath, MJCFBody &worldBody,
std::vector<MJCFBody *> &bodies, std::vector<MJCFActuator *> &actuators,
std::vector<MJCFTendon *> &tendons, std::vector<MJCFContact *> &contacts,
std::map<std::string, MeshInfo> &simulationMeshCache,
std::map<std::string, MJCFMesh> &meshes,
std::map<std::string, MJCFMaterial> &materials,
std::map<std::string, MJCFTexture> &textures, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes,
std::map<std::string, int> &jointToActuatorIdx, ImportConfig &config) {
// parses attributes for the MJCF compiler, which defines settings such as
// angle units (rad/deg), mesh directory path, etc.
LoadCompiler(root->FirstChildElement("compiler"), compiler);
// reset counters
bodyIdxCount = 0;
geomIdxCount = 0;
siteIdxCount = 0;
jointIdxCount = 0;
// deal with defaults
tinyxml2::XMLElement *d = root->FirstChildElement("default");
if (!d) {
// if no default, set the defaultClassName to default if it does not exist
// yet. added this condition to avoid overwriting default class parameters
// parsed in a prior call
if (classes.find(defaultClassName) == classes.end()) {
classes[defaultClassName] = MJCFClass();
}
} else {
// only handle one top level default
if (d->Attribute("class"))
defaultClassName = d->Attribute("class");
classes[defaultClassName] = MJCFClass();
LoadDefault(d, defaultClassName, classes[defaultClassName], compiler,
classes);
if (d->NextSiblingElement("default")) {
CARB_LOG_ERROR(
"*** Can only handle one top level default at the moment!");
return;
}
}
tinyxml2::XMLElement *a = root->FirstChildElement("asset");
if (a) {
{
tinyxml2::XMLDocument includeDoc;
tinyxml2::XMLElement *includeRoot =
LoadInclude(includeDoc, a->FirstChildElement("include"), baseDirPath);
if (includeRoot) {
LoadAssets(includeRoot, baseDirPath, compiler, simulationMeshCache,
meshes, materials, textures, defaultClassName, classes,
config);
}
}
LoadAssets(a, baseDirPath, compiler, simulationMeshCache, meshes, materials,
textures, defaultClassName, classes, config);
}
// finds the origin of the world frame within which the rest of the kinematic
// tree is defined
tinyxml2::XMLElement *wb = root->FirstChildElement("worldbody");
if (wb) {
{
tinyxml2::XMLDocument includeDoc;
tinyxml2::XMLElement *includeRoot = LoadInclude(
includeDoc, wb->FirstChildElement("include"), baseDirPath);
if (includeRoot) {
tinyxml2::XMLElement *c = includeRoot->FirstChildElement("body");
while (c) {
bodies.push_back(new MJCFBody());
LoadBody(c, bodies, *bodies.back(), defaultClassName, compiler,
classes, baseDirPath);
c = c->NextSiblingElement("body");
}
}
}
tinyxml2::XMLElement *c = wb->FirstChildElement("body");
while (c) {
bodies.push_back(new MJCFBody());
LoadBody(c, bodies, *bodies.back(), defaultClassName, compiler, classes,
baseDirPath);
c = c->NextSiblingElement("body");
}
worldBody = MJCFBody();
// load sites and geoms
tinyxml2::XMLElement *g = wb->FirstChildElement("geom");
while (g) {
worldBody.geoms.push_back(new MJCFGeom());
LoadGeom(g, *worldBody.geoms.back(), defaultClassName, compiler, classes,
true);
if (worldBody.geoms.back()->type == MJCFGeom::OTHER) {
// don't know how to deal with it - remove it from list
worldBody.geoms.pop_back();
}
g = g->NextSiblingElement("geom");
}
tinyxml2::XMLElement *s = wb->FirstChildElement("site");
while (s) {
worldBody.sites.push_back(new MJCFSite());
LoadSite(wb->FirstChildElement("site"), *worldBody.sites.back(),
defaultClassName, compiler, classes, true);
s = s->NextSiblingElement("site");
}
}
tinyxml2::XMLElement *ac = root->FirstChildElement("actuator");
if (ac) {
tinyxml2::XMLElement *c = ac->FirstChildElement();
while (c) {
MJCFActuator::Type type;
std::string elementName{c->Name()};
if (elementName == "motor") {
type = MJCFActuator::MOTOR;
} else if (elementName == "position") {
type = MJCFActuator::POSITION;
} else if (elementName == "velocity") {
type = MJCFActuator::VELOCITY;
} else if (elementName == "general") {
type = MJCFActuator::GENERAL;
} else {
CARB_LOG_ERROR(
"*** Only motor, position, velocity actuators supported");
c = c->NextSiblingElement();
continue;
}
MJCFActuator *actuator = new MJCFActuator();
LoadActuator(c, *actuator, defaultClassName, type, classes);
jointToActuatorIdx[actuator->joint] = int(actuators.size());
actuators.push_back(actuator);
c = c->NextSiblingElement();
}
}
// load tendons
tinyxml2::XMLElement *tc = root->FirstChildElement("tendon");
if (tc) {
{
// parse fixed tendons first
tinyxml2::XMLElement *c = tc->FirstChildElement("fixed");
while (c) {
MJCFTendon *tendon = new MJCFTendon();
LoadTendon(c, *tendon, defaultClassName, MJCFTendon::FIXED, classes);
tendons.push_back(tendon);
c = c->NextSiblingElement("fixed");
}
}
{
// parse spatial tendons next
tinyxml2::XMLElement *c = tc->FirstChildElement("spatial");
while (c) {
MJCFTendon *tendon = new MJCFTendon();
LoadTendon(c, *tendon, defaultClassName, MJCFTendon::SPATIAL, classes);
tendons.push_back(tendon);
c = c->NextSiblingElement("spatial");
}
}
}
tinyxml2::XMLElement *cc = root->FirstChildElement("contact");
if (cc) {
tinyxml2::XMLElement *c = cc->FirstChildElement();
while (c) {
MJCFContact::Type type;
std::string elementName{c->Name()};
if (elementName == "pair") {
type = MJCFContact::PAIR;
} else if (elementName == "exclude") {
type = MJCFContact::EXCLUDE;
} else {
CARB_LOG_ERROR("*** Invalid contact specification");
c = c->NextSiblingElement();
continue;
}
MJCFContact *contact = new MJCFContact();
LoadContact(c, *contact, type, classes);
contacts.push_back(contact);
c = c->NextSiblingElement();
}
}
}
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfUsd.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// clang-format off
#include "UsdPCH.h"
// clang-format on
#include "MjcfTypes.h"
#include "MjcfUtils.h"
#include "Mjcf.h"
#include "math/core/maths.h"
#include <physxSchema/jointStateAPI.h>
#include <physxSchema/physxArticulationAPI.h>
#include <physxSchema/physxJointAPI.h>
#include <physxSchema/physxLimitAPI.h>
#include <physxSchema/physxRigidBodyAPI.h>
#include <physxSchema/physxSceneAPI.h>
#include <physxSchema/physxTendonAttachmentAPI.h>
#include <physxSchema/physxTendonAttachmentLeafAPI.h>
#include <physxSchema/physxTendonAttachmentRootAPI.h>
#include <physxSchema/physxTendonAxisAPI.h>
#include <physxSchema/physxTendonAxisRootAPI.h>
#include <pxr/usd/usdPhysics/articulationRootAPI.h>
#include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/driveAPI.h>
#include <pxr/usd/usdPhysics/filteredPairsAPI.h>
#include <pxr/usd/usdPhysics/fixedJoint.h>
#include <pxr/usd/usdPhysics/joint.h>
#include <pxr/usd/usdPhysics/limitAPI.h>
#include <pxr/usd/usdPhysics/massAPI.h>
#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
#include <pxr/usd/usdPhysics/prismaticJoint.h>
#include <pxr/usd/usdPhysics/revoluteJoint.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#include <pxr/usd/usdPhysics/scene.h>
#include <map>
#include <vector>
namespace omni {
namespace importer {
namespace mjcf {
pxr::SdfPath getNextFreePath(pxr::UsdStageWeakPtr stage,
const pxr::SdfPath &primPath);
void setStageMetadata(pxr::UsdStageWeakPtr stage,
const omni::importer::mjcf::ImportConfig config);
void createRoot(pxr::UsdStageWeakPtr stage, Transform trans,
const std::string rootPrimPath,
const omni::importer::mjcf::ImportConfig config);
void createFixedRoot(pxr::UsdStageWeakPtr stage, const std::string jointPath,
const std::string bodyPath);
void applyArticulationAPI(pxr::UsdStageWeakPtr stage,
pxr::UsdGeomXformable prim,
const omni::importer::mjcf::ImportConfig config);
pxr::UsdGeomMesh createMesh(pxr::UsdStageWeakPtr stage, const pxr::SdfPath path,
Mesh *mesh, float scale, bool importMaterials,
bool instanceable);
pxr::UsdGeomMesh createMesh(pxr::UsdStageWeakPtr stage, const pxr::SdfPath path,
const std::vector<pxr::GfVec3f> &points,
const std::vector<pxr::GfVec3f> &normals,
const std::vector<int> &indices,
const std::vector<int> &vertexCounts);
void createAndBindMaterial(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim,
MJCFMaterial *material, MJCFTexture *texture,
Vec4 &color, bool colorOnly);
pxr::UsdGeomXformable createBody(pxr::UsdStageWeakPtr stage,
const std::string primPath,
const Transform &trans,
const ImportConfig &config);
void applyRigidBody(pxr::UsdGeomXformable bodyPrim, const MJCFBody *body,
const ImportConfig &config);
pxr::UsdPrim
createPrimitiveGeom(pxr::UsdStageWeakPtr stage, const std::string geomPath,
const MJCFGeom *geom,
const std::map<std::string, MeshInfo> &simulationMeshCache,
const ImportConfig &config, bool importMaterials,
const std::string rootPrimPath, bool collisionGeom);
pxr::UsdPrim createPrimitiveGeom(pxr::UsdStageWeakPtr stage,
const std::string geomPath,
const MJCFSite *site,
const ImportConfig &config,
bool importMaterials);
void applyCollisionGeom(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim,
const MJCFGeom *geom);
pxr::UsdPhysicsJoint createFixedJoint(pxr::UsdStageWeakPtr stage,
const std::string jointPath,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath,
const ImportConfig &config);
pxr::UsdPhysicsJoint createD6Joint(pxr::UsdStageWeakPtr stage,
const std::string jointPath,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath,
const ImportConfig &config);
void initPhysicsJoint(pxr::UsdPhysicsJoint &jointPrim,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath, const float &distanceScale);
void applyPhysxJoint(pxr::UsdPhysicsJoint &jointPrim, const MJCFJoint *joint);
void applyJointLimits(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint,
const MJCFActuator *actuator, const int *axisMap,
const int jointIdx, const int numJoints,
const ImportConfig &config);
void createJointDrives(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint,
const MJCFActuator *actuator, const std::string axis,
const ImportConfig &config);
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfUtils.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include "MjcfUtils.h"
#include "math/core/maths.h"
namespace omni {
namespace importer {
namespace mjcf {
std::string SanitizeUsdName(const std::string &src) {
if (src.empty()) {
return "_";
}
std::string dst;
if (std::isdigit(src[0])) {
dst.push_back('_');
}
for (auto c : src) {
if (std::isalnum(c) || c == '_') {
dst.push_back(c);
} else {
dst.push_back('_');
}
}
return dst;
}
std::string GetAttr(const tinyxml2::XMLElement *c, const char *name) {
if (c->Attribute(name)) {
return std::string(c->Attribute(name));
} else {
return "";
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, bool &p) {
const char *st = e->Attribute(aname);
if (st) {
std::string s = st;
if (s == "true") {
p = true;
}
if (s == "1") {
p = true;
}
if (s == "false") {
p = false;
}
if (s == "0") {
p = false;
}
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, int &p) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%d", &p);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, float &p) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f", &p);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, std::string &s) {
const char *st = e->Attribute(aname);
if (st) {
s = st;
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec2 &p) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f %f", &p.x, &p.y);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &p) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f %f %f", &p.x, &p.y, &p.z);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &from,
Vec3 &to) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f %f %f %f %f %f", &from.x, &from.y, &from.z, &to.x, &to.y,
&to.z);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec4 &p) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f %f %f %f", &p.x, &p.y, &p.z, &p.w);
}
}
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q) {
const char *st = e->Attribute(aname);
if (st) {
sscanf(st, "%f %f %f %f", &q.w, &q.x, &q.y, &q.z);
q = Normalize(q);
}
}
void getEulerIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q,
std::string eulerseq, bool angleInRad) {
const char *st = e->Attribute(aname);
if (st) {
float a, b, c;
sscanf(st, "%f %f %f", &a, &b, &c);
if (!angleInRad) {
a = kPi * a / 180.0f;
b = kPi * b / 180.0f;
c = kPi * c / 180.0f;
}
float angles[3] = {a, b, c};
q = Quat();
for (int i = (int)eulerseq.length() - 1; i >= 0; i--) {
char axis = eulerseq[i];
Quat new_quat = Quat();
new_quat.w = cos(angles[i] / 2);
if (axis == 'x') {
new_quat.x = sin(angles[i] / 2);
} else if (axis == 'y') {
new_quat.y = sin(angles[i] / 2);
} else if (axis == 'z') {
new_quat.z = sin(angles[i] / 2);
} else {
std::cout << "The MJCF importer currently only supports euler "
"sequences consisting of {x, y, z}"
<< std::endl;
}
q = new_quat * q;
}
}
}
void getAngleAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q,
bool angleInRad) {
const char *st = e->Attribute(aname);
if (st) {
Vec3 axis;
float angle;
sscanf(st, "%f %f %f %f", &axis.x, &axis.y, &axis.z, &angle);
// convert to quat
if (!angleInRad) {
angle = kPi * angle / 180.0f;
}
q = QuatFromAxisAngle(axis, angle);
}
}
void getZAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q) {
const char *st = e->Attribute(aname);
if (st) {
Vec3 zaxis;
sscanf(st, "%f %f %f", &zaxis.x, &zaxis.y, &zaxis.z);
Vec3 new_zaxis = zaxis;
new_zaxis = Normalize(new_zaxis);
Vec3 rotVec = Cross(Vec3(0.0f, 0.0f, 1.0f), new_zaxis);
if (Length(rotVec) < 1e-5) {
rotVec = Vec3(0.0f, 0.0f, 1.0f);
} else {
rotVec = Normalize(rotVec);
}
// essentially doing dot product between (0, 0, 1) and the vector and taking
// arccos to obtain the angle between the two vectors
float angle = acos(new_zaxis.z);
q = QuatFromAxisAngle(rotVec, angle);
}
}
void QuatFromZAxis(Vec3 zaxis, Quat &q) {
Vec3 new_zaxis = zaxis;
new_zaxis = Normalize(new_zaxis);
Vec3 rotVec = Cross(Vec3(0.0f, 0.0f, 1.0f), new_zaxis);
if (Length(rotVec) < 1e-5) {
rotVec = Vec3(0.0f, 0.0f, 1.0f);
} else {
rotVec = Normalize(rotVec);
}
// essentially doing dot product between (0, 0, 1) and the vector and taking
// arccos to obtain the angle between the two vectors
float angle = acos(new_zaxis.z);
q = QuatFromAxisAngle(rotVec, angle);
}
Quat indexedRotation(int axis, float s, float c) {
float v[3] = {0, 0, 0};
v[axis] = s;
return Quat(v[0], v[1], v[2], c);
}
Vec3 Diagonalize(const Matrix33 &m, Quat &massFrame) {
const int MAX_ITERS = 24;
Quat q = Quat();
Matrix33 d;
for (int i = 0; i < MAX_ITERS; i++) {
Matrix33 axes;
quat2Mat(q, axes);
d = Transpose(axes) * m * axes;
float d0 = fabs(d(1, 2)), d1 = fabs(d(0, 2)), d2 = fabs(d(0, 1));
// rotation axis index, from largest off-diagonal element
int a = int(d0 > d1 && d0 > d2 ? 0 : d1 > d2 ? 1 : 2);
int a1 = (a + 1 + (a >> 1)) & 3, a2 = (a1 + 1 + (a1 >> 1)) & 3;
if (d(a1, a2) == 0.0f ||
fabs(d(a1, a1) - d(a2, a2)) > 2e6f * fabs(2.0f * d(a1, a2)))
break;
// cot(2 * phi), where phi is the rotation angle
float w = (d(a1, a1) - d(a2, a2)) / (2.0f * d(a1, a2));
float absw = fabs(w);
Quat r;
if (absw > 1000) {
// h will be very close to 1, so use small angle approx instead
r = indexedRotation(a, 1 / (4 * w), 1.f);
} else {
float t = 1 / (absw + Sqrt(w * w + 1)); // absolute value of tan phi
float h = 1 / Sqrt(t * t + 1); // absolute value of cos phi
assert(h != 1); // |w|<1000 guarantees this with typical IEEE754 machine
// eps (approx 6e-8)
r = indexedRotation(a, Sqrt((1 - h) / 2) * Sign(w), Sqrt((1 + h) / 2));
}
q = Normalize(q * r);
}
massFrame = q;
return Vec3(d.cols[0].x, d.cols[1].y, d.cols[2].z);
}
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfUsd.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include <carb/logging/Log.h>
#include "MjcfUsd.h"
#include "utils/Path.h"
namespace omni {
namespace importer {
namespace mjcf {
pxr::SdfPath getNextFreePath(pxr::UsdStageWeakPtr stage,
const pxr::SdfPath &primPath) {
auto uniquePath = primPath;
auto prim = stage->GetPrimAtPath(uniquePath);
const std::string &name = uniquePath.GetName();
int startIndex = 1;
while (prim) {
uniquePath = primPath.ReplaceName(
pxr::TfToken(name + "_" + std::to_string(startIndex)));
prim = stage->GetPrimAtPath(uniquePath);
startIndex++;
}
return uniquePath;
}
std::string makeValidUSDIdentifier(const std::string &name) {
auto validName = pxr::TfMakeValidIdentifier(name);
if (validName[0] == '_') {
validName = "a" + validName;
}
if (pxr::TfIsValidIdentifier(name) == false) {
CARB_LOG_WARN("The path %s is not a valid usd path, modifying to %s",
name.c_str(), validName.c_str());
}
return validName;
}
void setStageMetadata(pxr::UsdStageWeakPtr stage,
const omni::importer::mjcf::ImportConfig config) {
if (config.createPhysicsScene) {
pxr::UsdPhysicsScene scene =
pxr::UsdPhysicsScene::Define(stage, pxr::SdfPath("/physicsScene"));
scene.CreateGravityDirectionAttr().Set(pxr::GfVec3f(0.0f, 0.0f, -1.0));
scene.CreateGravityMagnitudeAttr().Set(9.81f * config.distanceScale);
pxr::PhysxSchemaPhysxSceneAPI physxSceneAPI =
pxr::PhysxSchemaPhysxSceneAPI::Apply(
stage->GetPrimAtPath(pxr::SdfPath("/physicsScene")));
physxSceneAPI.CreateEnableCCDAttr().Set(true);
physxSceneAPI.CreateEnableStabilizationAttr().Set(true);
physxSceneAPI.CreateEnableGPUDynamicsAttr().Set(false);
physxSceneAPI.CreateBroadphaseTypeAttr().Set(pxr::TfToken("MBP"));
physxSceneAPI.CreateSolverTypeAttr().Set(pxr::TfToken("TGS"));
}
pxr::UsdGeomSetStageMetersPerUnit(stage, 1.0f / config.distanceScale);
pxr::UsdGeomSetStageUpAxis(stage, pxr::TfToken("Z"));
}
void createRoot(pxr::UsdStageWeakPtr stage, Transform trans,
const std::string rootPrimPath,
const omni::importer::mjcf::ImportConfig config) {
pxr::UsdGeomXform robotPrim =
pxr::UsdGeomXform::Define(stage, pxr::SdfPath(rootPrimPath));
if (config.makeDefaultPrim) {
stage->SetDefaultPrim(robotPrim.GetPrim());
}
}
void createFixedRoot(pxr::UsdStageWeakPtr stage, const std::string jointPath,
const std::string bodyPath) {
pxr::UsdPhysicsFixedJoint rootJoint =
pxr::UsdPhysicsFixedJoint::Define(stage, pxr::SdfPath(jointPath));
pxr::SdfPathVector val1{pxr::SdfPath(bodyPath)};
rootJoint.CreateBody1Rel().SetTargets(val1);
}
void applyArticulationAPI(pxr::UsdStageWeakPtr stage,
pxr::UsdGeomXformable prim,
const omni::importer::mjcf::ImportConfig config) {
pxr::UsdPhysicsArticulationRootAPI physicsSchema =
pxr::UsdPhysicsArticulationRootAPI::Apply(prim.GetPrim());
pxr::PhysxSchemaPhysxArticulationAPI physxSchema =
pxr::PhysxSchemaPhysxArticulationAPI::Apply(prim.GetPrim());
physxSchema.CreateEnabledSelfCollisionsAttr().Set(config.selfCollision);
}
std::string ReplaceBackwardSlash(std::string in) {
for (auto &c : in) {
if (c == '\\') {
c = '/';
}
}
return in;
}
std::string copyTexture(std::string usdStageIdentifier,
std::string texturePath) {
// switch any windows-style path into linux backwards slash (omniclient
// handles windows paths)
usdStageIdentifier = ReplaceBackwardSlash(usdStageIdentifier);
texturePath = ReplaceBackwardSlash(texturePath);
// Assumes the folder structure has already been created.
int path_idx = (int)usdStageIdentifier.rfind('/');
std::string parent_folder = usdStageIdentifier.substr(0, path_idx);
int basename_idx = (int)texturePath.rfind('/');
std::string textureName = texturePath.substr(basename_idx + 1);
std::string out = (parent_folder + "/materials/" + textureName);
omniClientWait(omniClientCopy(texturePath.c_str(), out.c_str(), {}, {}));
return out;
}
void createMaterial(pxr::UsdStageWeakPtr usdStage, const pxr::SdfPath path,
Mesh *mesh, pxr::UsdGeomMesh usdMesh,
std::map<int, pxr::VtArray<int>> &materialMap) {
std::string prefix_path;
prefix_path = pxr::SdfPath(path)
.GetParentPath()
.GetParentPath()
.GetString(); // Robot root
// for each material, store the face indices and create GeomSubsets
usdStage->DefinePrim(pxr::SdfPath(prefix_path + "/Looks"),
pxr::TfToken("Scope"));
for (auto const &mat : materialMap) {
Material &material = mesh->m_materials[mat.first];
pxr::UsdPrim prim;
pxr::UsdShadeMaterial matPrim;
std::string mat_path(
prefix_path + "/Looks/" +
makeValidUSDIdentifier("material_" + SanitizeUsdName(material.name)));
prim = usdStage->GetPrimAtPath(pxr::SdfPath(mat_path));
int counter = 0;
while (prim) {
mat_path = std::string(
prefix_path + "/Looks/" +
makeValidUSDIdentifier("material_" + SanitizeUsdName(material.name) +
"_" + std::to_string(++counter)));
prim = usdStage->GetPrimAtPath(pxr::SdfPath(mat_path));
}
matPrim = pxr::UsdShadeMaterial::Define(usdStage, pxr::SdfPath(mat_path));
pxr::UsdShadeShader pbrShader = pxr::UsdShadeShader::Define(
usdStage, pxr::SdfPath(mat_path + "/Shader"));
pbrShader.CreateIdAttr(
pxr::VtValue(pxr::UsdImagingTokens->UsdPreviewSurface));
auto shader_out = pbrShader.CreateOutput(pxr::TfToken("out"),
pxr::SdfValueTypeNames->Token);
matPrim.CreateSurfaceOutput(pxr::TfToken("mdl"))
.ConnectToSource(shader_out);
matPrim.CreateVolumeOutput(pxr::TfToken("mdl")).ConnectToSource(shader_out);
matPrim.CreateDisplacementOutput(pxr::TfToken("mdl"))
.ConnectToSource(shader_out);
pbrShader.GetImplementationSourceAttr().Set(
pxr::UsdShadeTokens->sourceAsset);
pbrShader.SetSourceAsset(pxr::SdfAssetPath("OmniPBR.mdl"),
pxr::TfToken("mdl"));
pbrShader.SetSourceAssetSubIdentifier(pxr::TfToken("OmniPBR"),
pxr::TfToken("mdl"));
bool has_emissive_map = false;
// diffuse, normal/bump, metallic, emissive, reflection/shininess
std::string materialMapPaths[5] = {material.mapKd, material.mapBump,
material.mapMetallic, material.mapEnv,
material.mapKs};
std::string materialMapTokens[5] = {
"diffuse_texture", "normalmap_texture", "metallic_texture",
"emissive_mask_texture", "reflectionroughness_texture"};
for (int i = 0; i < 5; i++) {
if (materialMapPaths[i] != "") {
if (!usdStage->GetRootLayer()->IsAnonymous()) {
auto texture_path = copyTexture(
usdStage->GetRootLayer()->GetIdentifier(), materialMapPaths[i]);
int basename_idx = (int)texture_path.rfind('/');
std::string filename = texture_path.substr(basename_idx + 1);
std::string texture_relative_path = "materials/" + filename;
pbrShader
.CreateInput(pxr::TfToken(materialMapTokens[i]),
pxr::SdfValueTypeNames->Asset)
.Set(pxr::SdfAssetPath(texture_relative_path));
if (i == 3) {
pbrShader
.CreateInput(pxr::TfToken("emissive_color"),
pxr::SdfValueTypeNames->Color3f)
.Set(pxr::GfVec3f(1.0f, 1.0f, 1.0f));
pbrShader
.CreateInput(pxr::TfToken("enable_emission"),
pxr::SdfValueTypeNames->Bool)
.Set(true);
pbrShader
.CreateInput(pxr::TfToken("emissive_intensity"),
pxr::SdfValueTypeNames->Float)
.Set(10000.0f);
has_emissive_map = true;
}
} else {
CARB_LOG_WARN(
"Material %s has an image texture, but it won't be imported "
"since the asset is being loaded on memory. Please import it "
"into a destination folder to get all textures.",
material.name.c_str());
}
}
}
if (material.hasDiffuse) {
pbrShader
.CreateInput(pxr::TfToken("diffuse_color_constant"),
pxr::SdfValueTypeNames->Color3f)
.Set(pxr::GfVec3f(material.Ks.x, material.Ks.y, material.Ks.z));
}
if (material.hasMetallic) {
pbrShader
.CreateInput(pxr::TfToken("metallic_constant"),
pxr::SdfValueTypeNames->Float)
.Set(material.metallic);
}
if (material.hasSpecular) {
pbrShader
.CreateInput(pxr::TfToken("specular_level"),
pxr::SdfValueTypeNames->Float)
.Set(material.specular);
}
if (!has_emissive_map && material.hasEmissive) {
pbrShader
.CreateInput(pxr::TfToken("emissive_color"),
pxr::SdfValueTypeNames->Color3f)
.Set(pxr::GfVec3f(material.emissive.x, material.emissive.y,
material.emissive.z));
}
if (materialMap.size() > 1) {
auto geomSubset = pxr::UsdGeomSubset::Define(
usdStage, pxr::SdfPath(usdMesh.GetPath().GetString() + "/material_" +
SanitizeUsdName(material.name)));
geomSubset.CreateElementTypeAttr(pxr::VtValue(pxr::TfToken("face")));
geomSubset.CreateFamilyNameAttr(
pxr::VtValue(pxr::TfToken("materialBind")));
geomSubset.CreateIndicesAttr(pxr::VtValue(mat.second));
if (matPrim) {
pxr::UsdShadeMaterialBindingAPI mbi(geomSubset);
mbi.Bind(matPrim);
// pxr::UsdShadeMaterialBindingAPI::Apply(geomSubset).Bind(matPrim);
}
} else {
if (matPrim) {
pxr::UsdShadeMaterialBindingAPI mbi(usdMesh);
mbi.Bind(matPrim);
// pxr::UsdShadeMaterialBindingAPI::Apply(usdMesh).Bind(matPrim);
}
}
}
}
// convert from internal Gym mesh to USD mesh
pxr::UsdGeomMesh createMesh(pxr::UsdStageWeakPtr stage, const pxr::SdfPath path,
Mesh *mesh, float scale, bool importMaterials) {
// basic mesh data
pxr::VtArray<pxr::VtArray<pxr::GfVec2f>> uvs;
size_t vertexOffset = 0;
std::map<int, pxr::VtArray<int>> materialMap;
for (size_t m = 0; m < mesh->m_usdMeshPrims.size(); m++) {
auto &meshPrim = mesh->m_usdMeshPrims[m];
for (size_t k = 0; k < meshPrim.uvs.size(); k++) {
uvs.push_back(meshPrim.uvs[k]);
}
for (size_t i = vertexOffset;
i < vertexOffset + meshPrim.faceVertexCounts.size(); i++) {
int materialIdx = mesh->m_materialAssignments[m].material;
materialMap[materialIdx].push_back(static_cast<int>(i));
}
vertexOffset = vertexOffset + meshPrim.faceVertexCounts.size();
}
std::vector<pxr::GfVec3f> points(mesh->m_positions.size());
std::vector<pxr::GfVec3f> normals(mesh->m_normals.size());
std::vector<int> indices(mesh->m_indices.size());
std::vector<int> vertexCounts(mesh->GetNumFaces(), 3);
for (size_t i = 0; i < mesh->m_positions.size(); i++) {
Point3 p = scale * mesh->m_positions[i];
points[i].Set(&p.x);
}
for (size_t i = 0; i < mesh->m_normals.size(); i++) {
normals[i].Set(&mesh->m_normals[i].x);
}
for (size_t i = 0; i < mesh->m_indices.size(); i++) {
indices[i] = mesh->m_indices[i];
}
pxr::UsdGeomMesh usdMesh =
createMesh(stage, path, points, normals, indices, vertexCounts);
// texture UV
for (size_t j = 0; j < uvs.size(); j++) {
pxr::TfToken stName;
if (j == 0) {
stName = pxr::TfToken("st");
} else {
stName = pxr::TfToken("st_" + std::to_string(j));
}
pxr::UsdGeomPrimvarsAPI primvarsAPI(usdMesh);
pxr::UsdGeomPrimvar Primvar = primvarsAPI.CreatePrimvar(
stName, pxr::SdfValueTypeNames->TexCoord2fArray,
pxr::UsdGeomTokens->faceVarying);
Primvar.Set(uvs[j]);
}
if (!materialMap.empty() && importMaterials) {
createMaterial(stage, path, mesh, usdMesh, materialMap);
}
return usdMesh;
}
pxr::UsdGeomMesh createMesh(pxr::UsdStageWeakPtr stage, const pxr::SdfPath path,
const std::vector<pxr::GfVec3f> &points,
const std::vector<pxr::GfVec3f> &normals,
const std::vector<int> &indices,
const std::vector<int> &vertexCounts) {
pxr::UsdGeomMesh mesh = pxr::UsdGeomMesh::Define(stage, path);
// fill in VtArrays
pxr::VtArray<int> vertexCountsVt;
vertexCountsVt.assign(vertexCounts.begin(), vertexCounts.end());
pxr::VtArray<int> vertexIndicesVt;
vertexIndicesVt.assign(indices.begin(), indices.end());
pxr::VtArray<pxr::GfVec3f> pointArrayVt;
pointArrayVt.assign(points.begin(), points.end());
pxr::VtArray<pxr::GfVec3f> normalsVt;
normalsVt.assign(normals.begin(), normals.end());
mesh.CreateFaceVertexCountsAttr().Set(vertexCountsVt);
mesh.CreateFaceVertexIndicesAttr().Set(vertexIndicesVt);
mesh.CreatePointsAttr().Set(pointArrayVt);
mesh.CreateDoubleSidedAttr().Set(true);
if (!normals.empty()) {
mesh.CreateNormalsAttr().Set(normalsVt);
mesh.SetNormalsInterpolation(pxr::UsdGeomTokens->faceVarying);
}
return mesh;
}
pxr::UsdGeomXformable createBody(pxr::UsdStageWeakPtr stage,
const std::string primPath,
const Transform &trans,
const ImportConfig &config) {
// translate the prim before xform is created automatically
pxr::UsdGeomXform xform =
pxr::UsdGeomXform::Define(stage, pxr::SdfPath(primPath));
pxr::GfMatrix4d bodyMat;
bodyMat.SetIdentity();
bodyMat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(trans.p.x, trans.p.y, trans.p.z));
bodyMat.SetRotateOnly(
pxr::GfQuatd(trans.q.w, trans.q.x, trans.q.y, trans.q.z));
pxr::UsdGeomXformable gprim = pxr::UsdGeomXformable(xform);
gprim.ClearXformOpOrder();
pxr::UsdGeomXformOp transOp = gprim.AddTransformOp();
transOp.Set(bodyMat, pxr::UsdTimeCode::Default());
return gprim;
}
void applyRigidBody(pxr::UsdGeomXformable bodyPrim, const MJCFBody *body,
const ImportConfig &config) {
pxr::UsdPhysicsRigidBodyAPI physicsAPI =
pxr::UsdPhysicsRigidBodyAPI::Apply(bodyPrim.GetPrim());
pxr::PhysxSchemaPhysxRigidBodyAPI::Apply(bodyPrim.GetPrim());
pxr::UsdPhysicsMassAPI massAPI =
pxr::UsdPhysicsMassAPI::Apply(bodyPrim.GetPrim());
// TODO: need to support override computation
if (body->inertial && config.importInertiaTensor) {
massAPI.CreateMassAttr().Set(body->inertial->mass);
if (!config.overrideCoM) {
massAPI.CreateCenterOfMassAttr().Set(config.distanceScale *
pxr::GfVec3f(body->inertial->pos.x,
body->inertial->pos.y,
body->inertial->pos.z));
}
if (!config.overrideInertia) {
massAPI.CreateDiagonalInertiaAttr().Set(
config.distanceScale * config.distanceScale *
pxr::GfVec3f(body->inertial->diaginertia.x,
body->inertial->diaginertia.y,
body->inertial->diaginertia.z));
if (body->inertial->hasFullInertia == true) {
massAPI.CreatePrincipalAxesAttr().Set(pxr::GfQuatf(
body->inertial->principalAxes.w, body->inertial->principalAxes.x,
body->inertial->principalAxes.y, body->inertial->principalAxes.z));
}
}
} else {
massAPI.CreateDensityAttr().Set(config.density / config.distanceScale /
config.distanceScale /
config.distanceScale);
}
}
void createAndBindMaterial(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim,
MJCFMaterial *material, MJCFTexture *texture,
Vec4 &color, bool colorOnly) {
pxr::SdfPath path = prim.GetPath();
std::string prefix_path;
prefix_path = path.GetParentPath().GetString(); // body category root
stage->DefinePrim(pxr::SdfPath(prefix_path + "/Looks"),
pxr::TfToken("Scope"));
pxr::UsdShadeMaterial matPrim;
std::string materialName =
SanitizeUsdName(material ? material->name : "rgba");
std::string mat_path(prefix_path + "/Looks/" +
makeValidUSDIdentifier("material_" + materialName));
pxr::UsdPrim tmpPrim = stage->GetPrimAtPath(pxr::SdfPath(mat_path));
int counter = 0;
while (tmpPrim) {
mat_path =
std::string(prefix_path + "/Looks/" +
makeValidUSDIdentifier("material_" + materialName + "_" +
std::to_string(++counter)));
tmpPrim = stage->GetPrimAtPath(pxr::SdfPath(mat_path));
}
matPrim = pxr::UsdShadeMaterial::Define(stage, pxr::SdfPath(mat_path));
pxr::UsdShadeShader pbrShader =
pxr::UsdShadeShader::Define(stage, pxr::SdfPath(mat_path + "/Shader"));
pbrShader.CreateIdAttr(
pxr::VtValue(pxr::UsdImagingTokens->UsdPreviewSurface));
auto shader_out = pbrShader.CreateOutput(pxr::TfToken("out"),
pxr::SdfValueTypeNames->Token);
matPrim.CreateSurfaceOutput(pxr::TfToken("mdl")).ConnectToSource(shader_out);
matPrim.CreateVolumeOutput(pxr::TfToken("mdl")).ConnectToSource(shader_out);
matPrim.CreateDisplacementOutput(pxr::TfToken("mdl"))
.ConnectToSource(shader_out);
pbrShader.GetImplementationSourceAttr().Set(pxr::UsdShadeTokens->sourceAsset);
pbrShader.SetSourceAsset(pxr::SdfAssetPath("OmniPBR.mdl"),
pxr::TfToken("mdl"));
pbrShader.SetSourceAssetSubIdentifier(pxr::TfToken("OmniPBR"),
pxr::TfToken("mdl"));
if (colorOnly) {
pbrShader
.CreateInput(pxr::TfToken("diffuse_color_constant"),
pxr::SdfValueTypeNames->Color3f)
.Set(pxr::GfVec3f(color.x, color.y, color.z));
} else {
pbrShader
.CreateInput(pxr::TfToken("diffuse_color_constant"),
pxr::SdfValueTypeNames->Color3f)
.Set(
pxr::GfVec3f(material->rgba.x, material->rgba.y, material->rgba.z));
pbrShader
.CreateInput(pxr::TfToken("metallic_constant"),
pxr::SdfValueTypeNames->Float)
.Set(material->shininess);
pbrShader
.CreateInput(pxr::TfToken("specular_level"),
pxr::SdfValueTypeNames->Float)
.Set(material->specular);
pbrShader
.CreateInput(pxr::TfToken("reflection_roughness_constant"),
pxr::SdfValueTypeNames->Float)
.Set(material->roughness);
}
if (texture) {
if (texture->type == "2d") {
// ensures there is a texture filename to copy
if (texture->filename != "") {
if (!stage->GetRootLayer()->IsAnonymous()) {
auto texture_path = copyTexture(
stage->GetRootLayer()->GetIdentifier(), texture->filename);
int basename_idx = (int)texture_path.rfind('/');
std::string filename = texture_path.substr(basename_idx + 1);
std::string texture_relative_path = "materials/" + filename;
pbrShader
.CreateInput(pxr::TfToken("diffuse_texture"),
pxr::SdfValueTypeNames->Asset)
.Set(pxr::SdfAssetPath(texture_relative_path));
if (material->project_uvw == true) {
pbrShader
.CreateInput(pxr::TfToken("project_uvw"),
pxr::SdfValueTypeNames->Bool)
.Set(true);
}
} else {
CARB_LOG_WARN(
"Material %s has an image texture, but it won't be imported "
"since the asset is being loaded on memory. Please import it "
"into a destination folder to get all textures.",
material->name.c_str());
}
}
} else if (texture->type == "cube") {
// ensures there is a texture filename to copy
if (texture->filename != "") {
if (!stage->GetRootLayer()->IsAnonymous()) {
auto texture_path = copyTexture(
stage->GetRootLayer()->GetIdentifier(), texture->filename);
int basename_idx = (int)texture_path.rfind('/');
std::string filename = texture_path.substr(basename_idx + 1);
std::string texture_relative_path = "materials/" + filename;
pbrShader
.CreateInput(pxr::TfToken("diffuse_texture"),
pxr::SdfValueTypeNames->Asset)
.Set(pxr::SdfAssetPath(texture_relative_path));
} else {
CARB_LOG_WARN(
"Material %s has an image texture, but it won't be imported "
"since the asset is being loaded on memory. Please import it "
"into a destination folder to get all textures.",
material->name.c_str());
}
}
} else {
CARB_LOG_WARN("Only '2d' and 'cube' texture types are supported.\n");
}
}
if (matPrim) {
// pxr::UsdShadeMaterialBindingAPI mbi(prim);
// mbi.Apply(matPrim);
// mbi.Bind(matPrim);
pxr::UsdShadeMaterialBindingAPI::Apply(prim).Bind(matPrim);
}
}
pxr::GfVec3f evalSphereCoord(float u, float v) {
float theta = u * 2.0f * kPi;
float phi = (v - 0.5f) * kPi;
float cos_phi = cos(phi);
float x = cos_phi * cos(theta);
float y = cos_phi * sin(theta);
float z = sin(phi);
return pxr::GfVec3f(x, y, z);
}
int calcSphereIndex(int i, int j, int num_v_verts, int num_u_verts,
std::vector<pxr::GfVec3f> &points) {
if (j == 0) {
return 0;
} else if (j == num_v_verts - 1) {
return (int)points.size() - 1;
} else {
i = (i < num_u_verts) ? i : 0;
return (j - 1) * num_u_verts + i + 1;
}
}
pxr::UsdGeomMesh createSphereMesh(pxr::UsdStageWeakPtr stage,
const pxr::SdfPath path, float scale) {
int u_patches = 32;
int v_patches = 16;
int num_u_verts_scale = 1;
int num_v_verts_scale = 1;
u_patches = u_patches * num_u_verts_scale;
v_patches = v_patches * num_v_verts_scale;
u_patches = (u_patches > 3) ? u_patches : 3;
v_patches = (v_patches > 3) ? v_patches : 2;
float u_delta = 1.0f / (float)u_patches;
float v_delta = 1.0f / (float)v_patches;
int num_u_verts = u_patches;
int num_v_verts = v_patches + 1;
std::vector<pxr::GfVec3f> points;
std::vector<pxr::GfVec3f> normals;
std::vector<int> face_indices;
std::vector<int> face_vertex_counts;
pxr::GfVec3f bottom_point = pxr::GfVec3f(0.0f, 0.0f, -1.0f);
points.push_back(bottom_point);
for (int j = 0; j < num_v_verts - 1; j++) {
float v = (float)j * v_delta;
for (int i = 0; i < num_u_verts; i++) {
float u = (float)i * u_delta;
pxr::GfVec3f point = evalSphereCoord(u, v);
points.push_back(point);
}
}
pxr::GfVec3f top_point = pxr::GfVec3f(0.0f, 0.0f, 1.0f);
points.push_back(top_point);
// generate body
for (int j = 0; j < v_patches; j++) {
for (int i = 0; i < u_patches; i++) {
// index 0 is the bottom hat point
int vindex00 = calcSphereIndex(i, j, num_v_verts, num_u_verts, points);
int vindex10 =
calcSphereIndex(i + 1, j, num_v_verts, num_u_verts, points);
int vindex11 =
calcSphereIndex(i + 1, j + 1, num_v_verts, num_u_verts, points);
int vindex01 =
calcSphereIndex(i, j + 1, num_v_verts, num_u_verts, points);
pxr::GfVec3f p0 = points[vindex00];
pxr::GfVec3f p1 = points[vindex10];
pxr::GfVec3f p2 = points[vindex11];
pxr::GfVec3f p3 = points[vindex01];
if (vindex11 == vindex01) {
face_indices.push_back(vindex00);
face_indices.push_back(vindex10);
face_indices.push_back(vindex01);
face_vertex_counts.push_back(3);
normals.push_back(p0);
normals.push_back(p1);
normals.push_back(p3);
} else if (vindex00 == vindex10) {
face_indices.push_back(vindex00);
face_indices.push_back(vindex11);
face_indices.push_back(vindex01);
face_vertex_counts.push_back(3);
normals.push_back(p0);
normals.push_back(p2);
normals.push_back(p3);
} else {
face_indices.push_back(vindex00);
face_indices.push_back(vindex10);
face_indices.push_back(vindex11);
face_indices.push_back(vindex01);
face_vertex_counts.push_back(4);
normals.push_back(p0);
normals.push_back(p1);
normals.push_back(p2);
normals.push_back(p3);
}
}
}
pxr::UsdGeomMesh usdMesh = createMesh(stage, path, points, normals,
face_indices, face_vertex_counts);
return usdMesh;
}
pxr::UsdPrim
createPrimitiveGeom(pxr::UsdStageWeakPtr stage, const std::string geomPath,
const MJCFGeom *geom,
const std::map<std::string, MeshInfo> &simulationMeshCache,
const ImportConfig &config, bool importMaterials,
const std::string rootPrimPath, bool collisionGeom) {
pxr::SdfPath path = pxr::SdfPath(geomPath);
if (geom->type == MJCFGeom::PLANE) {
// add visual plane
pxr::UsdGeomMesh groundPlane = pxr::UsdGeomMesh::Define(stage, path);
groundPlane.CreateDisplayColorAttr().Set(
pxr::VtArray<pxr::GfVec3f>({pxr::GfVec3f(0.5f, 0.5f, 0.5f)}));
pxr::VtIntArray faceVertexCounts({4});
pxr::VtIntArray faceVertexIndices({0, 1, 2, 3});
pxr::GfVec3f normalsBase[] = {
pxr::GfVec3f(0.0f, 0.0f, 1.0f), pxr::GfVec3f(0.0f, 0.0f, 1.0f),
pxr::GfVec3f(0.0f, 0.0f, 1.0f), pxr::GfVec3f(0.0f, 0.0f, 1.0f)};
const size_t normalCount = sizeof(normalsBase) / sizeof(normalsBase[0]);
pxr::VtVec3fArray normals;
normals.resize(normalCount);
for (uint32_t i = 0; i < normalCount; i++) {
const pxr::GfVec3f &pointSrc = normalsBase[i];
pxr::GfVec3f &pointDst = normals[i];
pointDst[0] = pointSrc[0];
pointDst[1] = pointSrc[1];
pointDst[2] = pointSrc[2];
}
float planeSize[] = {geom->size.x, geom->size.y};
pxr::GfVec3f pointsBase[] = {
pxr::GfVec3f(-planeSize[0], -planeSize[1], 0.0f) * config.distanceScale,
pxr::GfVec3f(-planeSize[0], planeSize[1], 0.0f) * config.distanceScale,
pxr::GfVec3f(planeSize[0], planeSize[1], 0.0f) * config.distanceScale,
pxr::GfVec3f(planeSize[0], -planeSize[1], 0.0f) * config.distanceScale,
};
const size_t pointCount = sizeof(pointsBase) / sizeof(pointsBase[0]);
pxr::VtVec3fArray points;
points.resize(pointCount);
for (uint32_t i = 0; i < pointCount; i++) {
const pxr::GfVec3f &pointSrc = pointsBase[i];
pxr::GfVec3f &pointDst = points[i];
pointDst[0] = pointSrc[0];
pointDst[1] = pointSrc[1];
pointDst[2] = pointSrc[2];
}
groundPlane.CreateFaceVertexCountsAttr().Set(faceVertexCounts);
groundPlane.CreateFaceVertexIndicesAttr().Set(faceVertexIndices);
groundPlane.CreateNormalsAttr().Set(normals);
groundPlane.CreatePointsAttr().Set(points);
} else if (geom->type == MJCFGeom::SPHERE) {
pxr::UsdGeomSphere spherePrim = pxr::UsdGeomSphere::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
spherePrim.ComputeExtent(geom->size.x, &extentArray);
spherePrim.GetRadiusAttr().Set(double(geom->size.x));
spherePrim.GetExtentAttr().Set(extentArray);
} else if (geom->type == MJCFGeom::ELLIPSOID) {
if (collisionGeom) {
// use mesh for collision, or else collision mesh does not work properly
createSphereMesh(stage, path, config.distanceScale);
} else {
// use shape prim for visual
pxr::UsdGeomSphere ellipsePrim = pxr::UsdGeomSphere::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
ellipsePrim.ComputeExtent(geom->size.x, &extentArray);
ellipsePrim.GetExtentAttr().Set(extentArray);
}
} else if (geom->type == MJCFGeom::CAPSULE) {
pxr::UsdGeomCapsule capsulePrim = pxr::UsdGeomCapsule::Define(stage, path);
pxr::VtVec3fArray extentArray(4);
pxr::TfToken axis = pxr::TfToken("X");
float height;
if (geom->hasFromTo) {
Vec3 dif = geom->to - geom->from;
height = Length(dif);
} else {
// half length
height = 2.0f * geom->size.y;
}
capsulePrim.GetRadiusAttr().Set(double(geom->size.x));
capsulePrim.GetHeightAttr().Set(double(height));
capsulePrim.GetAxisAttr().Set(axis);
capsulePrim.ComputeExtent(double(height), double(geom->size.x), axis,
&extentArray);
capsulePrim.GetExtentAttr().Set(extentArray);
} else if (geom->type == MJCFGeom::CYLINDER) {
pxr::UsdGeomCylinder cylinderPrim =
pxr::UsdGeomCylinder::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
float height;
if (geom->hasFromTo) {
Vec3 dif = geom->to - geom->from;
height = Length(dif);
} else {
height = 2.0f * geom->size.y;
}
pxr::TfToken axis = pxr::TfToken("X");
cylinderPrim.ComputeExtent(double(height), double(geom->size.x), axis,
&extentArray);
cylinderPrim.GetAxisAttr().Set(pxr::UsdGeomTokens->z);
cylinderPrim.GetExtentAttr().Set(extentArray);
cylinderPrim.GetHeightAttr().Set(double(height));
cylinderPrim.GetRadiusAttr().Set(double(geom->size.x));
} else if (geom->type == MJCFGeom::BOX) {
pxr::UsdGeomCube boxPrim = pxr::UsdGeomCube::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
extentArray[1] = pxr::GfVec3f(geom->size.x, geom->size.y, geom->size.z);
extentArray[0] = -extentArray[1];
boxPrim.GetExtentAttr().Set(extentArray);
} else if (geom->type == MJCFGeom::MESH) {
MeshInfo meshInfo = simulationMeshCache.find(geom->mesh)->second;
createMesh(stage, path, meshInfo.mesh, config.distanceScale,
importMaterials);
}
pxr::UsdPrim prim = stage->GetPrimAtPath(path);
if (prim) {
// set the transformations first
pxr::GfMatrix4d mat;
mat.SetIdentity();
mat.SetTranslateOnly(pxr::GfVec3d(geom->pos.x, geom->pos.y, geom->pos.z));
mat.SetRotateOnly(
pxr::GfQuatd(geom->quat.w, geom->quat.x, geom->quat.y, geom->quat.z));
pxr::GfMatrix4d scale;
scale.SetIdentity();
scale.SetScale(pxr::GfVec3d(config.distanceScale, config.distanceScale,
config.distanceScale));
if (geom->type == MJCFGeom::ELLIPSOID) {
scale.SetScale(config.distanceScale *
pxr::GfVec3d(geom->size.x, geom->size.y, geom->size.z));
} else if (geom->type == MJCFGeom::SPHERE) {
Vec3 s = geom->size;
Vec3 cen = geom->pos;
Quat q = geom->quat;
// scale.SetIdentity();
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
} else if (geom->type == MJCFGeom::CAPSULE) {
Vec3 cen;
Quat q;
if (geom->hasFromTo) {
Vec3 diff = geom->to - geom->from;
diff = Normalize(diff);
Vec3 rotVec = Cross(Vec3(1.0f, 0.0f, 0.0f), diff);
if (Length(rotVec) < 1e-5) {
rotVec = Vec3(0.0f, 1.0f, 0.0f); // default rotation about y-axis
} else {
rotVec = Normalize(rotVec); // z axis
}
float angle = acos(diff.x);
cen = 0.5f * (geom->from + geom->to);
q = QuatFromAxisAngle(rotVec, angle);
} else {
cen = geom->pos;
q = geom->quat * QuatFromAxisAngle(Vec3(0.0f, 1.0f, 0.0f), -kPi * 0.5f);
}
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
} else if (geom->type == MJCFGeom::CYLINDER) {
Vec3 cen;
Quat q;
if (geom->hasFromTo) {
cen = 0.5f * (geom->from + geom->to);
Vec3 axis = geom->to - geom->from;
q = GetRotationQuat(Vec3(0.0f, 0.0f, 1.0f), Normalize(axis));
} else {
cen = geom->pos;
q = geom->quat;
}
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
} else if (geom->type == MJCFGeom::BOX) {
Vec3 s = geom->size;
Vec3 cen = geom->pos;
Quat q = geom->quat;
scale.SetScale(config.distanceScale * pxr::GfVec3d(s.x, s.y, s.z));
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
} else if (geom->type == MJCFGeom::MESH) {
Vec3 cen = geom->pos;
Quat q = geom->quat;
scale.SetIdentity();
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
} else if (geom->type == MJCFGeom::PLANE) {
Vec3 cen = geom->pos;
Quat q = geom->quat;
scale.SetIdentity();
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
}
pxr::UsdGeomXformable gprim = pxr::UsdGeomXformable(prim);
gprim.ClearXformOpOrder();
pxr::UsdGeomXformOp transOp = gprim.AddTransformOp();
transOp.Set(scale * mat, pxr::UsdTimeCode::Default());
}
return prim;
}
pxr::UsdPrim createPrimitiveGeom(pxr::UsdStageWeakPtr stage,
const std::string geomPath,
const MJCFSite *site,
const ImportConfig &config,
bool importMaterials) {
pxr::SdfPath path = pxr::SdfPath(geomPath);
if (site->type == MJCFSite::SPHERE) {
pxr::UsdGeomSphere spherePrim = pxr::UsdGeomSphere::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
spherePrim.ComputeExtent(site->size.x, &extentArray);
spherePrim.GetRadiusAttr().Set(double(site->size.x));
spherePrim.GetExtentAttr().Set(extentArray);
} else if (site->type == MJCFSite::ELLIPSOID) {
pxr::UsdGeomSphere ellipsePrim = pxr::UsdGeomSphere::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
ellipsePrim.ComputeExtent(site->size.x, &extentArray);
ellipsePrim.GetExtentAttr().Set(extentArray);
} else if (site->type == MJCFSite::CAPSULE) {
pxr::UsdGeomCapsule capsulePrim = pxr::UsdGeomCapsule::Define(stage, path);
pxr::VtVec3fArray extentArray(4);
pxr::TfToken axis = pxr::TfToken("X");
float height;
if (site->hasFromTo) {
Vec3 dif = site->to - site->from;
height = Length(dif);
} else {
// half length
height = 2.0f * site->size.y;
}
capsulePrim.GetRadiusAttr().Set(double(site->size.x));
capsulePrim.GetHeightAttr().Set(double(height));
capsulePrim.GetAxisAttr().Set(axis);
capsulePrim.ComputeExtent(double(height), double(site->size.x), axis,
&extentArray);
capsulePrim.GetExtentAttr().Set(extentArray);
} else if (site->type == MJCFSite::CYLINDER) {
pxr::UsdGeomCylinder cylinderPrim =
pxr::UsdGeomCylinder::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
float height;
if (site->hasFromTo) {
Vec3 dif = site->to - site->from;
height = Length(dif);
} else {
height = 2.0f * site->size.y;
}
pxr::TfToken axis = pxr::TfToken("X");
cylinderPrim.ComputeExtent(double(height), double(site->size.x), axis,
&extentArray);
cylinderPrim.GetAxisAttr().Set(pxr::UsdGeomTokens->z);
cylinderPrim.GetExtentAttr().Set(extentArray);
cylinderPrim.GetHeightAttr().Set(double(height));
cylinderPrim.GetRadiusAttr().Set(double(site->size.x));
} else if (site->type == MJCFSite::BOX) {
pxr::UsdGeomCube boxPrim = pxr::UsdGeomCube::Define(stage, path);
pxr::VtVec3fArray extentArray(2);
extentArray[1] = pxr::GfVec3f(site->size.x, site->size.y, site->size.z);
extentArray[0] = -extentArray[1];
boxPrim.GetExtentAttr().Set(extentArray);
}
pxr::UsdPrim prim = stage->GetPrimAtPath(path);
if (prim) {
// set the transformations first
pxr::GfMatrix4d mat;
mat.SetIdentity();
mat.SetTranslateOnly(pxr::GfVec3d(site->pos.x, site->pos.y, site->pos.z));
mat.SetRotateOnly(
pxr::GfQuatd(site->quat.w, site->quat.x, site->quat.y, site->quat.z));
pxr::GfMatrix4d scale;
scale.SetIdentity();
scale.SetScale(pxr::GfVec3d(config.distanceScale, config.distanceScale,
config.distanceScale));
if (site->type == MJCFSite::ELLIPSOID) {
scale.SetScale(config.distanceScale *
pxr::GfVec3d(site->size.x, site->size.y, site->size.z));
} else if (site->type == MJCFSite::CAPSULE) {
Vec3 cen;
Quat q;
if (site->hasFromTo) {
Vec3 diff = site->to - site->from;
diff = Normalize(diff);
Vec3 rotVec = Cross(Vec3(1.0f, 0.0f, 0.0f), diff);
if (Length(rotVec) < 1e-5) {
rotVec = Vec3(0.0f, 1.0f, 0.0f); // default rotation about y-axis
} else {
rotVec = Normalize(rotVec); // z axis
}
float angle = acos(diff.x);
cen = 0.5f * (site->from + site->to);
q = QuatFromAxisAngle(rotVec, angle);
} else {
cen = site->pos;
q = site->quat * QuatFromAxisAngle(Vec3(0.0f, 1.0f, 0.0f), -kPi * 0.5f);
}
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
} else if (site->type == MJCFSite::CYLINDER) {
Vec3 cen;
Quat q;
if (site->hasFromTo) {
cen = 0.5f * (site->from + site->to);
Vec3 axis = site->to - site->from;
q = GetRotationQuat(Vec3(0.0f, 0.0f, 1.0f), Normalize(axis));
} else {
cen = site->pos;
q = site->quat;
}
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
mat.SetTranslateOnly(pxr::GfVec3d(cen.x, cen.y, cen.z));
} else if (site->type == MJCFSite::BOX) {
Vec3 s = site->size;
Vec3 cen = site->pos;
Quat q = site->quat;
scale.SetScale(config.distanceScale * pxr::GfVec3d(s.x, s.y, s.z));
mat.SetTranslateOnly(config.distanceScale *
pxr::GfVec3d(cen.x, cen.y, cen.z));
mat.SetRotateOnly(pxr::GfQuatd(q.w, q.x, q.y, q.z));
}
pxr::UsdGeomXformable gprim = pxr::UsdGeomXformable(prim);
gprim.ClearXformOpOrder();
pxr::UsdGeomXformOp transOp = gprim.AddTransformOp();
transOp.Set(scale * mat, pxr::UsdTimeCode::Default());
}
return prim;
}
void applyCollisionGeom(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim,
const MJCFGeom *geom) {
if (geom->type == MJCFGeom::PLANE) {
} else {
pxr::UsdPhysicsCollisionAPI::Apply(prim);
pxr::UsdPhysicsMeshCollisionAPI physicsMeshAPI =
pxr::UsdPhysicsMeshCollisionAPI::Apply(prim);
if (geom->type == MJCFGeom::SPHERE) {
physicsMeshAPI.CreateApproximationAttr().Set(
pxr::UsdPhysicsTokens.Get()->boundingSphere);
} else if (geom->type == MJCFGeom::BOX) {
physicsMeshAPI.CreateApproximationAttr().Set(
pxr::UsdPhysicsTokens.Get()->boundingCube);
} else {
physicsMeshAPI.CreateApproximationAttr().Set(
pxr::UsdPhysicsTokens.Get()->convexHull);
}
pxr::UsdGeomMesh(prim).CreatePurposeAttr().Set(pxr::UsdGeomTokens->guide);
}
}
pxr::UsdPhysicsJoint createFixedJoint(pxr::UsdStageWeakPtr stage,
const std::string jointPath,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath,
const ImportConfig &config) {
pxr::UsdPhysicsJoint jointPrim =
pxr::UsdPhysicsFixedJoint::Define(stage, pxr::SdfPath(jointPath));
pxr::GfVec3f localPos0 =
config.distanceScale * pxr::GfVec3f(poseJointToParentBody.p.x,
poseJointToParentBody.p.y,
poseJointToParentBody.p.z);
pxr::GfQuatf localRot0 =
pxr::GfQuatf(poseJointToParentBody.q.w, poseJointToParentBody.q.x,
poseJointToParentBody.q.y, poseJointToParentBody.q.z);
pxr::GfVec3f localPos1 =
config.distanceScale * pxr::GfVec3f(poseJointToChildBody.p.x,
poseJointToChildBody.p.y,
poseJointToChildBody.p.z);
pxr::GfQuatf localRot1 =
pxr::GfQuatf(poseJointToChildBody.q.w, poseJointToChildBody.q.x,
poseJointToChildBody.q.y, poseJointToChildBody.q.z);
pxr::SdfPathVector val0{pxr::SdfPath(parentBodyPath)};
pxr::SdfPathVector val1{pxr::SdfPath(bodyPath)};
jointPrim.CreateBody0Rel().SetTargets(val0);
jointPrim.CreateLocalPos0Attr().Set(localPos0);
jointPrim.CreateLocalRot0Attr().Set(localRot0);
jointPrim.CreateBody1Rel().SetTargets(val1);
jointPrim.CreateLocalPos1Attr().Set(localPos1);
jointPrim.CreateLocalRot1Attr().Set(localRot1);
jointPrim.CreateBreakForceAttr().Set(FLT_MAX);
jointPrim.CreateBreakTorqueAttr().Set(FLT_MAX);
return jointPrim;
}
pxr::UsdPhysicsJoint createD6Joint(pxr::UsdStageWeakPtr stage,
const std::string jointPath,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath,
const ImportConfig &config) {
pxr::UsdPhysicsJoint jointPrim =
pxr::UsdPhysicsJoint::Define(stage, pxr::SdfPath(jointPath));
pxr::GfVec3f localPos0 =
config.distanceScale * pxr::GfVec3f(poseJointToParentBody.p.x,
poseJointToParentBody.p.y,
poseJointToParentBody.p.z);
pxr::GfQuatf localRot0 =
pxr::GfQuatf(poseJointToParentBody.q.w, poseJointToParentBody.q.x,
poseJointToParentBody.q.y, poseJointToParentBody.q.z);
pxr::GfVec3f localPos1 =
config.distanceScale * pxr::GfVec3f(poseJointToChildBody.p.x,
poseJointToChildBody.p.y,
poseJointToChildBody.p.z);
pxr::GfQuatf localRot1 =
pxr::GfQuatf(poseJointToChildBody.q.w, poseJointToChildBody.q.x,
poseJointToChildBody.q.y, poseJointToChildBody.q.z);
pxr::SdfPathVector val0{pxr::SdfPath(parentBodyPath)};
pxr::SdfPathVector val1{pxr::SdfPath(bodyPath)};
jointPrim.CreateBody0Rel().SetTargets(val0);
jointPrim.CreateLocalPos0Attr().Set(localPos0);
jointPrim.CreateLocalRot0Attr().Set(localRot0);
jointPrim.CreateBody1Rel().SetTargets(val1);
jointPrim.CreateLocalPos1Attr().Set(localPos1);
jointPrim.CreateLocalRot1Attr().Set(localRot1);
jointPrim.CreateBreakForceAttr().Set(FLT_MAX);
jointPrim.CreateBreakTorqueAttr().Set(FLT_MAX);
return jointPrim;
}
void initPhysicsJoint(pxr::UsdPhysicsJoint &jointPrim,
const Transform &poseJointToParentBody,
const Transform &poseJointToChildBody,
const std::string parentBodyPath,
const std::string bodyPath, const float &distanceScale) {
pxr::GfVec3f localPos0 =
distanceScale * pxr::GfVec3f(poseJointToParentBody.p.x,
poseJointToParentBody.p.y,
poseJointToParentBody.p.z);
pxr::GfQuatf localRot0 =
pxr::GfQuatf(poseJointToParentBody.q.w, poseJointToParentBody.q.x,
poseJointToParentBody.q.y, poseJointToParentBody.q.z);
pxr::GfVec3f localPos1 =
distanceScale * pxr::GfVec3f(poseJointToChildBody.p.x,
poseJointToChildBody.p.y,
poseJointToChildBody.p.z);
pxr::GfQuatf localRot1 =
pxr::GfQuatf(poseJointToChildBody.q.w, poseJointToChildBody.q.x,
poseJointToChildBody.q.y, poseJointToChildBody.q.z);
pxr::SdfPathVector val0{pxr::SdfPath(parentBodyPath)};
pxr::SdfPathVector val1{pxr::SdfPath(bodyPath)};
jointPrim.CreateBody0Rel().SetTargets(val0);
jointPrim.CreateLocalPos0Attr().Set(localPos0);
jointPrim.CreateLocalRot0Attr().Set(localRot0);
jointPrim.CreateBody1Rel().SetTargets(val1);
jointPrim.CreateLocalPos1Attr().Set(localPos1);
jointPrim.CreateLocalRot1Attr().Set(localRot1);
jointPrim.CreateBreakForceAttr().Set(FLT_MAX);
jointPrim.CreateBreakTorqueAttr().Set(FLT_MAX);
}
void applyPhysxJoint(pxr::UsdPhysicsJoint &jointPrim, const MJCFJoint *joint) {
pxr::PhysxSchemaPhysxJointAPI physxJoint =
pxr::PhysxSchemaPhysxJointAPI::Apply(jointPrim.GetPrim());
physxJoint.CreateArmatureAttr().Set(joint->armature);
}
void applyJointLimits(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint,
const MJCFActuator *actuator, const int *axisMap,
const int jointIdx, const int numJoints,
const ImportConfig &config) {
// enable limits if set
JointAxis axisHinge[3] = {eJointAxisTwist, eJointAxisSwing1,
eJointAxisSwing2};
JointAxis axisSlide[3] = {eJointAxisX, eJointAxisY, eJointAxisZ};
std::string d6Axes[6] = {"transX", "transY", "transZ",
"rotX", "rotY", "rotZ"};
int axis = -1;
std::string limitAttr = "";
// assume we can only have one of slide or hinge per d6 joint
if (joint->type == MJCFJoint::SLIDE) {
// lock all rotation axes
for (int i = 3; i < 6; ++i) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[i]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
}
axis = int(axisSlide[axisMap[jointIdx]]);
if (joint->limited) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[axis]));
limitAPI.CreateLowAttr().Set(config.distanceScale * joint->range.x);
limitAPI.CreateHighAttr().Set(config.distanceScale * joint->range.y);
}
pxr::PhysxSchemaPhysxLimitAPI physxLimitAPI =
pxr::PhysxSchemaPhysxLimitAPI::Apply(jointPrim.GetPrim(),
pxr::TfToken(d6Axes[axis]));
pxr::PhysxSchemaJointStateAPI::Apply(jointPrim.GetPrim(),
pxr::TfToken("linear"));
physxLimitAPI.CreateStiffnessAttr().Set(joint->stiffness);
physxLimitAPI.CreateDampingAttr().Set(joint->damping);
} else if (joint->type == MJCFJoint::HINGE) {
// lock all translation axes
for (int i = 0; i < 3; ++i) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[i]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
}
// TODO: locking all axes at the beginning doesn't work?
if (numJoints == 1) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[axisHinge[axisMap[1]]]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[axisHinge[axisMap[2]]]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
} else if (numJoints == 2) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[axisHinge[axisMap[2]]]));
limitAPI.CreateLowAttr().Set(1.0f);
limitAPI.CreateHighAttr().Set(-1.0f);
}
axis = int(axisHinge[axisMap[jointIdx]]);
if (joint->limited) {
pxr::UsdPhysicsLimitAPI limitAPI = pxr::UsdPhysicsLimitAPI::Apply(
jointPrim.GetPrim(), pxr::TfToken(d6Axes[axis]));
limitAPI.CreateLowAttr().Set(joint->range.x * 180 / kPi);
limitAPI.CreateHighAttr().Set(joint->range.y * 180 / kPi);
pxr::PhysxSchemaPhysxLimitAPI physxLimitAPI =
pxr::PhysxSchemaPhysxLimitAPI::Apply(jointPrim.GetPrim(),
pxr::TfToken(d6Axes[axis]));
physxLimitAPI.CreateStiffnessAttr().Set(joint->stiffness);
physxLimitAPI.CreateDampingAttr().Set(joint->damping);
}
pxr::PhysxSchemaJointStateAPI::Apply(jointPrim.GetPrim(),
pxr::TfToken("angular"));
}
jointPrim.GetPrim()
.CreateAttribute(pxr::TfToken("mjcf:" + d6Axes[axis] + ":name"),
pxr::SdfValueTypeNames->Token)
.Set(pxr::TfToken(SanitizeUsdName(joint->name)));
createJointDrives(jointPrim, joint, actuator, d6Axes[axis], config);
}
void createJointDrives(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint,
const MJCFActuator *actuator, const std::string axis,
const ImportConfig &config) {
pxr::UsdPhysicsDriveAPI driveAPI =
pxr::UsdPhysicsDriveAPI::Apply(jointPrim.GetPrim(), pxr::TfToken(axis));
driveAPI =
pxr::UsdPhysicsDriveAPI::Apply(jointPrim.GetPrim(), pxr::TfToken(axis));
driveAPI.CreateTypeAttr().Set(
pxr::TfToken("force")); // TODO: when will this be acceleration?
driveAPI.CreateDampingAttr().Set(joint->damping);
driveAPI.CreateStiffnessAttr().Set(joint->stiffness);
if (actuator) {
MJCFActuator::Type actuatorType = actuator->type;
if (actuatorType == MJCFActuator::MOTOR ||
actuatorType == MJCFActuator::GENERAL) {
// nothing special
} else if (actuatorType == MJCFActuator::POSITION) {
driveAPI.CreateStiffnessAttr().Set(actuator->kp);
} else if (actuatorType == MJCFActuator::VELOCITY) {
driveAPI.CreateStiffnessAttr().Set(actuator->kv);
}
const Vec2 &forcerange = actuator->forcerange;
float maxForce = std::max(abs(forcerange.x), abs(forcerange.y));
driveAPI.CreateMaxForceAttr().Set(maxForce);
}
}
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/Mjcf.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
//
#pragma once
#include <carb/Defines.h>
#include <pybind11/pybind11.h>
#include <stdint.h>
namespace omni {
namespace importer {
namespace mjcf {
struct ImportConfig {
bool mergeFixedJoints = false;
bool convexDecomp = false;
bool importInertiaTensor = false;
bool fixBase = true;
bool selfCollision = false;
float density = 1000; // default density used for objects without mass/inertia
// UrdfJointTargetType defaultDriveType = UrdfJointTargetType::POSITION;
float defaultDriveStrength = 100000;
float distanceScale = 1.0f;
// UrdfAxis upVector = { 0, 0, 1 };
bool createPhysicsScene = true;
bool makeDefaultPrim = true;
bool createBodyForFixedJoint = true;
bool overrideCoM = false;
bool overrideInertia = false;
bool visualizeCollisionGeoms = false;
bool importSites = true;
bool makeInstanceable = false;
std::string instanceableMeshUsdPath = "./instanceable_meshes.usd";
};
struct Mjcf {
CARB_PLUGIN_INTERFACE("omni::importer::mjcf::Mjcf", 0, 1);
void(CARB_ABI *createAssetFromMJCF)(const char *fileName,
const char *primName,
ImportConfig &config,
const std::string &stage_identifier);
};
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfImporter.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// clang-format off
#include "UsdPCH.h"
// clang-format on
#include "MjcfParser.h"
#include "MjcfTypes.h"
#include "MjcfUsd.h"
#include "MjcfUtils.h"
#include "core/mesh.h"
#include <carb/logging/Log.h>
#include "Mjcf.h"
#include "math/core/maths.h"
#include <pxr/usd/usdGeom/imageable.h>
#include <iostream>
#include <iterator>
#include <map>
#include <queue>
#include <set>
#include <string>
#include <tinyxml2.h>
#include <vector>
namespace omni {
namespace importer {
namespace mjcf {
class MJCFImporter {
public:
std::string baseDirPath;
std::string defaultClassName;
std::map<std::string, MJCFClass> classes;
MJCFCompiler compiler;
std::vector<MJCFBody *> bodies;
std::vector<MJCFGeom *> collisionGeoms;
std::vector<MJCFActuator *> actuators;
std::vector<MJCFTendon *> tendons;
std::vector<MJCFContact *> contacts;
MJCFBody worldBody;
std::map<std::string, pxr::UsdPhysicsRevoluteJoint> revoluteJointsMap;
std::map<std::string, pxr::UsdPhysicsPrismaticJoint> prismaticJointsMap;
std::map<std::string, pxr::UsdPhysicsJoint> d6JointsMap;
std::map<std::string, pxr::UsdPrim> geomPrimMap;
std::map<std::string, pxr::UsdPrim> sitePrimMap;
std::map<std::string, pxr::UsdPrim> siteToBodyPrim;
std::map<std::string, pxr::UsdPrim> geomToBodyPrim;
std::queue<MJCFBody *> bodyQueue;
std::map<std::string, int> jointToKinematicHierarchy;
std::map<std::string, int> jointToActuatorIdx;
std::map<std::string, MeshInfo> simulationMeshCache;
std::map<std::string, MJCFMesh> meshes;
std::map<std::string, MJCFMaterial> materials;
std::map<std::string, MJCFTexture> textures;
std::vector<ContactNode *> contactGraph;
std::map<std::string, MJCFBody *> nameToBody;
std::map<std::string, int> geomNameToIdx;
std::map<std::string, std::string> nameToUsdCollisionPrim;
bool createBodyForFixedJoint;
bool isLoaded = false;
MJCFImporter(const std::string fullPath, ImportConfig &config);
~MJCFImporter();
void populateBodyLookup(MJCFBody *body);
bool AddPhysicsEntities(pxr::UsdStageWeakPtr stage, const Transform trans,
const std::string &rootPrimPath,
const ImportConfig &config);
void CreateInstanceableMeshes(pxr::UsdStageRefPtr stage, MJCFBody *body,
const std::string rootPrimPath,
const bool isRoot, const ImportConfig &config);
void CreatePhysicsBodyAndJoint(pxr::UsdStageWeakPtr stage, MJCFBody *body,
std::string rootPrimPath,
const Transform trans, const bool isRoot,
const std::string parentBodyPath,
const ImportConfig &config,
const std::string instanceableUsdPath);
void computeJointFrame(Transform &origin, int *axisMap, const MJCFBody *body);
bool contactBodyExclusion(MJCFBody *body1, MJCFBody *body2);
bool createContactGraph();
void computeKinematicHierarchy();
void addWorldGeomsAndSites(pxr::UsdStageWeakPtr stage, std::string rootPath,
const ImportConfig &config,
const std::string instanceableUsdPath);
bool addVisualGeom(pxr::UsdStageWeakPtr stage, pxr::UsdPrim bodyPrim,
MJCFBody *body, std::string bodyPath,
const ImportConfig &config, bool createGeoms,
const std::string rootPrimPath);
void addVisualSites(pxr::UsdStageWeakPtr stage, pxr::UsdPrim bodyPrim,
MJCFBody *body, std::string bodyPath,
const ImportConfig &config);
void AddContactFilters(pxr::UsdStageWeakPtr stage);
void AddTendons(pxr::UsdStageWeakPtr stage, std::string rootPath);
pxr::GfVec3f GetLocalPos(MJCFTendon::SpatialAttachment attachment);
};
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/UsdPCH.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// !!! DO NOT INCLUDE THIS FILE IN A HEADER !!!
// When you include this file in a cpp file, add the file name to premake5.lua's
// pchFiles list!
// The usd headers drag in heavy dependencies and are very slow to build.
// Make it PCH to speed up building time.
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning( \
disable : 4244) // = Conversion from double to float / int to float
#pragma warning(disable : 4267) // conversion from size_t to int
#pragma warning(disable : 4305) // argument truncation from double to float
#pragma warning(disable : 4800) // int to bool
#pragma warning( \
disable : 4996) // call to std::copy with parameters that may be unsafe
#define NOMINMAX // Make sure nobody #defines min or max
#include <Windows.h> // Include this here so we can curate
#undef small // defined in rpcndr.h
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#pragma GCC diagnostic ignored "-Wunused-local-typedefs"
#pragma GCC diagnostic ignored "-Wunused-function"
// This suppresses deprecated header warnings, which is impossible with pragmas.
// Alternative is to specify -Wno-deprecated build option, but that disables
// other useful warnings too.
#ifdef __DEPRECATED
#define OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
#undef __DEPRECATED
#endif
#endif
#define BOOST_PYTHON_STATIC_LIB
// Include cstdio here so that vsnprintf is properly declared. This is necessary
// because pyerrors.h has #define vsnprintf _vsnprintf which later causes
// <cstdio> to declare std::_vsnprintf instead of the correct and proper
// std::vsnprintf. By doing it here before everything else, we avoid this
// nonsense.
#include <cstdio>
// Python must be included first because it monkeys with macros that cause
// TBB to fail to compile in debug mode if TBB is included before Python
#include <boost/python/object.hpp>
#include <pxr/base/arch/stackTrace.h>
#include <pxr/base/arch/threads.h>
#include <pxr/base/gf/api.h>
#include <pxr/base/gf/camera.h>
#include <pxr/base/gf/frustum.h>
#include <pxr/base/gf/matrix3f.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/matrix4f.h>
#include <pxr/base/gf/quaternion.h>
#include <pxr/base/gf/rotation.h>
#include <pxr/base/gf/transform.h>
#include <pxr/base/gf/vec2f.h>
#include <pxr/base/plug/notice.h>
#include <pxr/base/plug/plugin.h>
#include <pxr/base/tf/hashmap.h>
#include <pxr/base/tf/staticTokens.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/trace/reporter.h>
#include <pxr/base/trace/trace.h>
#include <pxr/base/vt/value.h>
#include <pxr/base/work/loops.h>
#include <pxr/base/work/threadLimits.h>
#include <pxr/imaging/hd/basisCurves.h>
#include <pxr/imaging/hd/camera.h>
#include <pxr/imaging/hd/engine.h>
#include <pxr/imaging/hd/extComputation.h>
#include <pxr/imaging/hd/flatNormals.h>
#include <pxr/imaging/hd/instancer.h>
#include <pxr/imaging/hd/light.h>
#include <pxr/imaging/hd/material.h>
#include <pxr/imaging/hd/mesh.h>
#include <pxr/imaging/hd/meshUtil.h>
#include <pxr/imaging/hd/points.h>
#include <pxr/imaging/hd/renderBuffer.h>
#include <pxr/imaging/hd/renderIndex.h>
#include <pxr/imaging/hd/renderPass.h>
#include <pxr/imaging/hd/renderPassState.h>
#include <pxr/imaging/hd/rendererPluginRegistry.h>
#include <pxr/imaging/hd/resourceRegistry.h>
#include <pxr/imaging/hd/rprim.h>
#include <pxr/imaging/hd/smoothNormals.h>
#include <pxr/imaging/hd/sprim.h>
#include <pxr/imaging/hd/vertexAdjacency.h>
#include <pxr/imaging/hdx/tokens.h>
#include <pxr/imaging/pxOsd/tokens.h>
#include <pxr/usd/ar/resolver.h>
#include <pxr/usd/ar/resolverContext.h>
#include <pxr/usd/ar/resolverContextBinder.h>
#include <pxr/usd/ar/resolverScopedCache.h>
#include <pxr/usd/kind/registry.h>
#include <pxr/usd/pcp/layerStack.h>
#include <pxr/usd/pcp/site.h>
#include <pxr/usd/sdf/attributeSpec.h>
#include <pxr/usd/sdf/changeList.h>
#include <pxr/usd/sdf/copyUtils.h>
#include <pxr/usd/sdf/fileFormat.h>
#include <pxr/usd/sdf/layerStateDelegate.h>
#include <pxr/usd/sdf/layerUtils.h>
#include <pxr/usd/sdf/relationshipSpec.h>
#include <pxr/usd/usd/attribute.h>
#include <pxr/usd/usd/editContext.h>
#include <pxr/usd/usd/modelAPI.h>
#include <pxr/usd/usd/notice.h>
#include <pxr/usd/usd/primRange.h>
#include <pxr/usd/usd/relationship.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/stageCache.h>
#include <pxr/usd/usd/usdFileFormat.h>
#include <pxr/usd/usdGeom/basisCurves.h>
#include <pxr/usd/usdGeom/camera.h>
#include <pxr/usd/usdGeom/capsule.h>
#include <pxr/usd/usdGeom/cone.h>
#include <pxr/usd/usdGeom/cube.h>
#include <pxr/usd/usdGeom/cylinder.h>
#include <pxr/usd/usdGeom/mesh.h>
#include <pxr/usd/usdGeom/metrics.h>
#include <pxr/usd/usdGeom/points.h>
#include <pxr/usd/usdGeom/primvarsAPI.h>
#include <pxr/usd/usdGeom/scope.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/subset.h>
#include <pxr/usd/usdGeom/xform.h>
#include <pxr/usd/usdGeom/xformCommonAPI.h>
#include <pxr/usd/usdLux/cylinderLight.h>
#include <pxr/usd/usdLux/diskLight.h>
#include <pxr/usd/usdLux/distantLight.h>
#include <pxr/usd/usdLux/domeLight.h>
#include <pxr/usd/usdLux/rectLight.h>
#include <pxr/usd/usdLux/sphereLight.h>
#include <pxr/usd/usdLux/tokens.h>
#include <pxr/usd/usdShade/tokens.h>
#include <pxr/usd/usdSkel/animation.h>
#include <pxr/usd/usdSkel/root.h>
#include <pxr/usd/usdSkel/skeleton.h>
#include <pxr/usd/usdSkel/tokens.h>
#include <pxr/usd/usdUtils/stageCache.h>
#include <pxr/usdImaging/usdImaging/delegate.h>
// -- Hydra
#include <pxr/imaging/hd/renderDelegate.h>
#include <pxr/imaging/hd/renderIndex.h>
#include <pxr/imaging/hd/rendererPlugin.h>
#include <pxr/imaging/hd/sceneDelegate.h>
#include <pxr/imaging/hd/tokens.h>
#include <pxr/imaging/hdx/taskController.h>
#include <pxr/usdImaging/usdImaging/gprimAdapter.h>
#include <pxr/usdImaging/usdImaging/indexProxy.h>
#include <pxr/usdImaging/usdImaging/tokens.h>
// -- nv extensions
//#include <audioSchema/sound.h>
// -- omni.usd
#include <omni/usd/UsdContextIncludes.h>
#include <omni/usd/UtilsIncludes.h>
#ifdef _MSC_VER
#pragma warning(pop)
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#ifdef OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
#define __DEPRECATED
#undef OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
#endif
#endif
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/Mjcf.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#define CARB_EXPORTS
// clang-format off
#include "UsdPCH.h"
// clang-format on
#include "MjcfImporter.h"
#include "stdio.h"
#include <carb/PluginUtils.h>
#include <carb/logging/Log.h>
#include "Mjcf.h"
#include <omni/ext/IExt.h>
#include <omni/kit/IApp.h>
#include <omni/kit/IStageUpdate.h>
#define EXTENSION_NAME "omni.importer.mjcf.plugin"
using namespace carb;
const struct carb::PluginImplDesc kPluginImpl = {
EXTENSION_NAME, "MJCF Utilities", "NVIDIA", carb::PluginHotReload::eEnabled,
"dev"};
CARB_PLUGIN_IMPL(kPluginImpl, omni::importer::mjcf::Mjcf)
CARB_PLUGIN_IMPL_DEPS(omni::kit::IApp, carb::logging::ILogging)
namespace {
// passed in from python
void createAssetFromMJCF(const char *fileName, const char *primName,
omni::importer::mjcf::ImportConfig &config,
const std::string &stage_identifier = "") {
omni::importer::mjcf::MJCFImporter mjcf(fileName, config);
if (!mjcf.isLoaded) {
printf("cannot load mjcf xml file\n");
}
Transform trans = Transform();
bool save_stage = true;
pxr::UsdStageRefPtr _stage;
if (stage_identifier != "" &&
pxr::UsdStage::IsSupportedFile(stage_identifier)) {
_stage = pxr::UsdStage::Open(stage_identifier);
if (!_stage) {
CARB_LOG_INFO("Creating Stage: %s", stage_identifier.c_str());
_stage = pxr::UsdStage::CreateNew(stage_identifier);
} else {
for (const auto &p :
_stage->GetPrimAtPath(pxr::SdfPath("/")).GetChildren()) {
_stage->RemovePrim(p.GetPath());
}
}
config.makeDefaultPrim = true;
pxr::UsdGeomSetStageUpAxis(_stage, pxr::UsdGeomTokens->z);
}
if (!_stage) // If all else fails, import on current stage
{
CARB_LOG_INFO("Importing URDF to Current Stage");
// Get the 'active' USD stage from the USD stage cache.
const std::vector<pxr::UsdStageRefPtr> allStages =
pxr::UsdUtilsStageCache::Get().GetAllStages();
if (allStages.size() != 1) {
CARB_LOG_ERROR("Cannot determine the 'active' USD stage (%zu stages "
"present in the USD stage cache).",
allStages.size());
return;
}
_stage = allStages[0];
save_stage = false;
}
std::string result = "";
if (_stage) {
pxr::UsdGeomSetStageMetersPerUnit(_stage, 1.0 / config.distanceScale);
if (!mjcf.AddPhysicsEntities(_stage, trans, primName, config)) {
printf("no physics entities found!\n");
}
// CARB_LOG_WARN("Import Done, saving");
if (save_stage) {
// CARB_LOG_WARN("Saving Stage %s",
// _stage->GetRootLayer()->GetIdentifier().c_str());
_stage->Save();
}
}
}
} // namespace
CARB_EXPORT void carbOnPluginStartup() {
CARB_LOG_INFO("Startup MJCF Extension");
}
CARB_EXPORT void carbOnPluginShutdown() {}
void fillInterface(omni::importer::mjcf::Mjcf &iface) {
using namespace omni::importer::mjcf;
memset(&iface, 0, sizeof(iface));
// iface.helloWorld = helloWorld;
iface.createAssetFromMJCF = createAssetFromMJCF;
// iface.importRobot = importRobot;
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MeshImporter.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "core/mesh.h"
#include <fstream>
namespace mesh {
class MeshImporter {
private:
// std::map<std::string, std::pair<Mesh*, carb::gym::GymMeshHandle>>
// gymGraphicsMeshCache; std::map<std::pair<float, float>,
// carb::gym::TriangleMeshHandle> cylinderCache; std::map<std::string, Mesh*>
// simulationMeshCache;
public:
MeshImporter() {}
std::string resolveMeshPath(const std::string &filePath) {
// noop for now
return filePath;
}
Mesh *loadMeshAssimp(std::string relativeMeshPath, const Vec3 &scale,
GymMeshNormalMode normalMode, bool flip = false) {
std::string meshPath = resolveMeshPath(relativeMeshPath);
Mesh *mesh = ImportMeshAssimp(meshPath.c_str());
if (mesh == nullptr) {
return nullptr;
}
if (mesh->m_positions.size() == 0) {
return nullptr;
}
if (normalMode == GymMeshNormalMode::eFromAsset) {
// asset normals should already be in the mesh
if (mesh->m_normals.size() != mesh->m_positions.size()) {
// fall back to vertex norms
mesh->CalculateNormals();
}
} else if (normalMode == GymMeshNormalMode::eComputePerVertex) {
mesh->CalculateNormals();
} else if (normalMode == GymMeshNormalMode::eComputePerFace) {
mesh->CalculateFaceNormals();
}
// Use normals to generate missing texcoords
for (unsigned int i = 0; i < mesh->m_texcoords.size(); ++i) {
Vector2 &uv = mesh->m_texcoords[i];
if (uv.x < 0 && uv.y < 0) {
Vector3 &n = mesh->m_normals[i];
uv.x = std::atan2(n.z, n.x) / k2Pi;
uv.y = std::atan2(std::sqrt(n.x * n.x + n.z * n.z), n.y) / kPi;
}
}
if (flip) {
Matrix44 flip;
flip(0, 0) = 1.0f;
flip(2, 1) = 1.0f;
flip(1, 2) = -1.0f;
flip(3, 3) = 1.0f;
mesh->Transform(flip);
}
mesh->Transform(ScaleMatrix(scale));
return mesh;
}
Mesh *loadMeshFromObj(std::string relativeMeshPath, const Vec3 &scale,
bool flip = false) {
std::string meshPath = resolveMeshPath(relativeMeshPath);
size_t extensionPosition = meshPath.find_last_of(".");
meshPath.replace(extensionPosition, std::string::npos, ".obj");
Mesh *mesh = ImportMeshFromObj(meshPath.c_str());
if (mesh == nullptr) {
return nullptr;
}
if (mesh->m_positions.size() == 0) {
// Memory leak? `Mesh` has no `delete` mechanism
return nullptr;
}
if (flip) {
Matrix44 flip;
flip(0, 0) = 1.0f;
flip(2, 1) = 1.0f;
flip(1, 2) = -1.0f;
flip(3, 3) = 1.0f;
mesh->Transform(flip);
}
mesh->Transform(ScaleMatrix(scale));
// use flat normals on collision shapes
mesh->CalculateFaceNormals();
return mesh;
}
Mesh *loadMeshFromWrl(std::string relativeMeshPath, const Vec3 &scale) {
std::string meshPath = resolveMeshPath(relativeMeshPath);
size_t extensionPosition = meshPath.find_last_of(".");
meshPath.replace(extensionPosition, std::string::npos, ".wrl");
std::ifstream inf(meshPath);
if (!inf) {
printf("File %s not found!\n", meshPath.c_str());
return nullptr;
}
// TODO Avoid!
Mesh *mesh = new Mesh();
std::string str;
while (inf >> str) {
if (str == "point") {
std::vector<Vec3> points;
std::string tmp;
inf >> tmp;
while (tmp != "]") {
float x, y, z;
std::string ss;
inf >> ss;
if (ss == "]") {
break;
}
x = (float)atof(ss.c_str());
inf >> y >> z;
points.push_back(Vec3(x * scale.x, y * scale.y, z * scale.z));
inf >> tmp;
}
while (inf >> str) {
if (str == "coordIndex") {
std::vector<int> indices;
inf >> tmp;
inf >> tmp;
while (tmp != "]") {
int i0, i1, i2;
if (tmp == "]") {
break;
}
sscanf(tmp.c_str(), "%d", &i0);
std::string s1, s2, s3;
inf >> s1 >> s2 >> s3;
sscanf(s1.c_str(), "%d", &i1);
sscanf(s2.c_str(), "%d", &i2);
indices.push_back(i0);
indices.push_back(i1);
indices.push_back(i2);
inf >> tmp;
}
// Now found triangles too, create convex
mesh->m_positions.resize(points.size());
mesh->m_indices.resize(indices.size());
for (size_t i = 0; i < points.size(); i++) {
mesh->m_positions[i].x = points[i].x;
mesh->m_positions[i].y = points[i].y;
mesh->m_positions[i].z = points[i].z;
}
memcpy(&mesh->m_indices[0], &indices[0],
sizeof(int) * indices.size());
mesh->CalculateNormals();
break;
}
}
}
}
inf.close();
return mesh;
}
};
} // namespace mesh
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfUtils.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "math/core/maths.h"
#include <tinyxml2.h>
namespace omni {
namespace importer {
namespace mjcf {
std::string SanitizeUsdName(const std::string &src);
std::string GetAttr(const tinyxml2::XMLElement *c, const char *name);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, bool &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, int &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, float &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, std::string &s);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec2 &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &from,
Vec3 &to);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec4 &p);
void getIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q);
void getEulerIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q,
std::string eulerseq, bool angleInRad);
void getZAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q);
void getAngleAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q,
bool angleInRad);
Quat indexedRotation(int axis, float s, float c);
Vec3 Diagonalize(const Matrix33 &m, Quat &massFrame);
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfTypes.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "core/mesh.h"
#include "math/core/maths.h"
#include <set>
#include <vector>
namespace omni {
namespace importer {
namespace mjcf {
typedef unsigned int TriangleMeshHandle;
typedef int64_t GymMeshHandle;
struct MeshInfo {
Mesh *mesh = nullptr;
TriangleMeshHandle meshId = -1;
GymMeshHandle meshHandle = -1;
};
struct ContactNode {
std::string name;
std::set<int> adjacentNodes;
};
class MJCFJoint {
public:
enum Type {
HINGE,
SLIDE,
BALL,
FREE,
};
std::string name;
Type type;
bool limited;
float armature;
// dynamics
float stiffness;
float damping;
float friction;
// axis
Vec3 axis;
float ref;
Vec3 pos; // aka origin's position: origin is {position, quat}
// limits
Vec2 range; // lower to upper joint limit
float velocityLimits[6];
float initVal;
MJCFJoint() {
armature = 0.0f;
damping = 0.0f;
limited = false;
axis = Vec3(1.0f, 0.0f, 0.0f);
name = "";
pos = Vec3(0.0f, 0.0f, 0.0f);
range = Vec2(0.0f, 0.0f);
stiffness = 0.0f;
friction = 0.0f;
type = HINGE;
ref = 0.0f;
initVal = 0.0f;
}
};
class MJCFGeom {
public:
enum Type { CAPSULE, SPHERE, ELLIPSOID, CYLINDER, BOX, MESH, PLANE, OTHER };
float density;
int conaffinity;
int condim;
int contype;
float margin;
// sliding, torsion, rolling frictions
Vec3 friction;
std::string material;
Vec4 rgba;
Vec3 solimp;
Vec2 solref;
Vec3 from;
Vec3 to;
Vec3 size;
std::string name;
Vec3 pos;
Type type;
Quat quat;
Vec4 axisangle;
Vec3 zaxis;
std::string mesh;
bool hasFromTo;
MJCFGeom() {
conaffinity = 1;
condim = 3;
contype = 1;
margin = 0.0f;
friction = Vec3(1.0f, 0.005f, 0.0001f);
material = "";
rgba = Vec4(0.5f, 0.5f, 0.5f, 1.0f);
solimp = Vec3(0.9f, 0.95f, 0.001f);
solref = Vec2(0.02f, 1.0f);
from = Vec3(0.0f, 0.0f, 0.0f);
to = Vec3(0.0f, 0.0f, 0.0f);
size = Vec3(1.0f, 1.0f, 1.0f);
name = "";
pos = Vec3(0.0f, 0.0f, 0.0f);
type = SPHERE;
density = 1000.0f;
quat = Quat();
hasFromTo = false;
}
};
class MJCFSite {
public:
enum Type { CAPSULE, SPHERE, ELLIPSOID, CYLINDER, BOX };
int group;
// sliding, torsion, rolling frictions
Vec3 friction;
std::string material;
Vec4 rgba;
Vec3 from;
Vec3 to;
Vec3 size;
bool hasFromTo;
std::string name;
Vec3 pos;
Type type;
Quat quat;
Vec3 zaxis;
bool hasGeom;
MJCFSite() {
group = 0;
material = "";
rgba = Vec4(0.5f, 0.5f, 0.5f, 1.0f);
from = Vec3(0.0f, 0.0f, 0.0f);
to = Vec3(0.0f, 0.0f, 0.0f);
size = Vec3(0.005f, 0.005f, 0.005f);
hasFromTo = false;
name = "";
pos = Vec3(0.0f, 0.0f, 0.0f);
type = SPHERE;
quat = Quat();
hasGeom = true;
}
};
class MJCFInertial {
public:
float mass;
Vec3 pos;
Vec3 diaginertia;
Quat principalAxes;
bool hasFullInertia;
MJCFInertial() {
mass = -1.0f;
pos = Vec3(0.0f, 0.0f, 0.0f);
diaginertia = Vec3(0.0f, 0.0f, 0.0f);
principalAxes = Quat();
hasFullInertia = false;
}
};
enum JointAxis {
eJointAxisX, //!< Corresponds to translation around the body0 x-axis
eJointAxisY, //!< Corresponds to translation around the body0 y-axis
eJointAxisZ, //!< Corresponds to translation around the body0 z-axis
eJointAxisTwist, //!< Corresponds to rotation around the body0 x-axis
eJointAxisSwing1, //!< Corresponds to rotation around the body0 y-axis
eJointAxisSwing2, //!< Corresponds to rotation around the body0 z-axis
};
class MJCFBody {
public:
std::string name;
Vec3 pos;
Quat quat;
Vec3 zaxis;
MJCFInertial *inertial;
std::vector<MJCFGeom *> geoms;
std::vector<MJCFJoint *> joints;
std::vector<MJCFBody *> bodies;
std::vector<MJCFSite *> sites;
bool hasVisual;
MJCFBody() {
name = "";
pos = Vec3(0.0f, 0.0f, 0.0f);
quat = Quat();
inertial = nullptr;
geoms.clear();
joints.clear();
bodies.clear();
hasVisual = false;
}
~MJCFBody() {
if (inertial) {
delete inertial;
}
for (int i = 0; i < (int)geoms.size(); i++) {
delete geoms[i];
}
for (int i = 0; i < (int)joints.size(); i++) {
delete joints[i];
}
for (int i = 0; i < (int)bodies.size(); i++) {
delete bodies[i];
}
for (int i = 0; i < (int)sites.size(); i++) {
delete sites[i];
}
}
};
class MJCFCompiler {
public:
bool angleInRad;
bool inertiafromgeom;
bool coordinateInLocal;
bool autolimits;
std::string eulerseq;
std::string meshDir;
std::string textureDir;
MJCFCompiler() {
eulerseq = "xyz";
angleInRad = false;
inertiafromgeom = true;
coordinateInLocal = true;
autolimits = false;
}
};
class MJCFContact {
public:
enum Type { PAIR, EXCLUDE, DEFAULT };
Type type;
std::string name;
std::string geom1, geom2;
int condim;
std::string body1, body2;
MJCFContact() {
type = DEFAULT;
name = "";
geom1 = "";
geom2 = "";
body1 = "";
body2 = "";
}
};
class MJCFActuator {
public:
enum Type { MOTOR, POSITION, VELOCITY, GENERAL, DEFAULT };
Type type;
bool ctrllimited;
bool forcelimited;
Vec2 ctrlrange;
Vec2 forcerange;
float gear;
std::string joint;
std::string name;
float kp, kv;
MJCFActuator() {
type = DEFAULT;
ctrllimited = false;
forcelimited = false;
ctrlrange = Vec2(-1.0f, 1.0f);
forcerange = Vec2(-FLT_MAX, FLT_MAX);
gear = 0.0f;
name = "";
joint = "";
kp = 0.f;
kv = 0.f;
}
};
class MJCFTendon {
public:
enum Type {
SPATIAL = 0,
FIXED,
DEFAULT // flag for default tendon
};
struct FixedJoint {
std::string joint;
float coef;
};
struct SpatialAttachment {
enum Type { GEOM, SITE };
std::string geom;
std::string sidesite = "";
std::string site;
Type type;
int branch;
};
struct SpatialPulley {
float divisor = 0.0;
int branch;
};
Type type;
std::string name;
bool limited;
Vec2 range;
// limit and friction solver params:
Vec3 solimplimit;
Vec2 solreflimit;
Vec3 solimpfriction;
Vec2 solreffriction;
float margin;
float frictionloss;
float width;
std::string material;
Vec4 rgba;
float springlength;
float stiffness;
float damping;
// fixed
std::vector<FixedJoint *> fixedJoints;
// spatial
std::vector<SpatialAttachment *> spatialAttachments;
std::vector<SpatialPulley *> spatialPulleys;
std::map<int, std::vector<SpatialAttachment *>> spatialBranches;
MJCFTendon() {
type = FIXED;
limited = false;
range = Vec2(0.0f, 0.0f);
solimplimit = Vec3(0.9f, 0.95f, 0.001f);
solreflimit = Vec2(0.02f, 1.0f);
solimpfriction = Vec3(0.9f, 0.95f, 0.001f);
solreffriction = Vec2(0.02f, 1.0f);
margin = 0.0f;
frictionloss = 0.0f;
width = 0.003f;
material = "";
rgba = Vec4(0.5f, 0.5f, 0.5f, 1.0f);
}
~MJCFTendon() {
for (int i = 0; i < (int)fixedJoints.size(); i++) {
delete fixedJoints[i];
}
for (int i = 0; i < (int)spatialAttachments.size(); i++) {
delete spatialAttachments[i];
}
for (int i = 0; i < (int)spatialPulleys.size(); i++) {
delete spatialPulleys[i];
}
}
};
class MJCFMesh {
public:
std::string name;
std::string filename;
Vec3 scale;
MJCFMesh() {
name = "";
filename = "";
scale = Vec3(1.0f);
}
};
class MJCFTexture {
public:
std::string name;
std::string filename;
std::string gridsize;
std::string gridlayout;
std::string type;
MJCFTexture() {
name = "";
filename = "";
gridsize = "";
gridlayout = "";
type = "cube";
}
};
class MJCFMaterial {
public:
std::string name;
std::string texture;
float specular;
float roughness;
float shininess;
Vec4 rgba;
bool project_uvw;
MJCFMaterial() {
name = "";
texture = "";
specular = 0.5f;
roughness = 0.5f;
shininess = 0.0f; // metallic
rgba = Vec4(0.2f, 0.2f, 0.2f, 1.0f);
project_uvw = true;
}
};
class MJCFClass {
public:
// a class that defines default values for the following entities
MJCFJoint djoint;
MJCFGeom dgeom;
MJCFActuator dactuator;
MJCFTendon dtendon;
MJCFMesh dmesh;
MJCFMaterial dmaterial;
MJCFSite dsite;
std::string name;
};
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/MjcfParser.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "Mjcf.h"
#include "MjcfTypes.h"
#include "math/core/maths.h"
#include <map>
#include <tinyxml2.h>
namespace omni {
namespace importer {
namespace mjcf {
tinyxml2::XMLElement *LoadInclude(tinyxml2::XMLDocument &doc,
const tinyxml2::XMLElement *c,
const std::string baseDirPath);
void LoadCompiler(tinyxml2::XMLElement *c, MJCFCompiler &compiler);
void LoadInertial(tinyxml2::XMLElement *i, MJCFInertial &inertial);
void LoadGeom(tinyxml2::XMLElement *g, MJCFGeom &geom, std::string className,
MJCFCompiler &compiler, std::map<std::string, MJCFClass> &classes,
bool isDefault);
void LoadSite(tinyxml2::XMLElement *s, MJCFSite &site, std::string className,
MJCFCompiler &compiler, std::map<std::string, MJCFClass> &classes,
bool isDefault);
void LoadMesh(tinyxml2::XMLElement *m, MJCFMesh &mesh, std::string className,
MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes);
void LoadActuator(tinyxml2::XMLElement *g, MJCFActuator &actuator,
std::string className, MJCFActuator::Type type,
std::map<std::string, MJCFClass> &classes);
void LoadContact(tinyxml2::XMLElement *g, MJCFContact &contact,
MJCFContact::Type type,
std::map<std::string, MJCFClass> &classes);
void LoadTendon(tinyxml2::XMLElement *t, MJCFTendon &tendon,
std::string className, MJCFTendon::Type type,
std::map<std::string, MJCFClass> &classes);
void LoadJoint(tinyxml2::XMLElement *g, MJCFJoint &joint, std::string className,
MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes, bool isDefault);
void LoadFreeJoint(tinyxml2::XMLElement *g, MJCFJoint &joint,
std::string className, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes, bool isDefault);
void LoadDefault(tinyxml2::XMLElement *e, const std::string className,
MJCFClass &cl, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes);
void LoadBody(tinyxml2::XMLElement *g, std::vector<MJCFBody *> &bodies,
MJCFBody &body, std::string className, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes,
std::string baseDirPath);
tinyxml2::XMLElement *LoadFile(tinyxml2::XMLDocument &doc,
const std::string filePath);
void LoadAssets(tinyxml2::XMLElement *a, std::string baseDirPath,
MJCFCompiler &compiler,
std::map<std::string, MeshInfo> &simulationMeshCache,
std::map<std::string, MJCFMesh> &meshes,
std::map<std::string, MJCFMaterial> &materials,
std::map<std::string, MJCFTexture> &textures,
std::string className,
std::map<std::string, MJCFClass> &classes,
ImportConfig &config);
void LoadGlobals(
tinyxml2::XMLElement *root, std::string &defaultClassName,
std::string baseDirPath, MJCFBody &worldBody,
std::vector<MJCFBody *> &bodies, std::vector<MJCFActuator *> &actuators,
std::vector<MJCFTendon *> &tendons, std::vector<MJCFContact *> &contacts,
std::map<std::string, MeshInfo> &simulationMeshCache,
std::map<std::string, MJCFMesh> &meshes,
std::map<std::string, MJCFMaterial> &materials,
std::map<std::string, MJCFTexture> &textures, MJCFCompiler &compiler,
std::map<std::string, MJCFClass> &classes,
std::map<std::string, int> &jointToActuatorIdx, ImportConfig &config);
} // namespace mjcf
} // namespace importer
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/mat33.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "quat.h"
#include "vec3.h"
struct Matrix33 {
CUDA_CALLABLE Matrix33() {}
CUDA_CALLABLE Matrix33(const float *ptr) {
cols[0].x = ptr[0];
cols[0].y = ptr[1];
cols[0].z = ptr[2];
cols[1].x = ptr[3];
cols[1].y = ptr[4];
cols[1].z = ptr[5];
cols[2].x = ptr[6];
cols[2].y = ptr[7];
cols[2].z = ptr[8];
}
CUDA_CALLABLE Matrix33(const Vec3 &c1, const Vec3 &c2, const Vec3 &c3) {
cols[0] = c1;
cols[1] = c2;
cols[2] = c3;
}
CUDA_CALLABLE Matrix33(const Quat &q) {
cols[0] = Rotate(q, Vec3(1.0f, 0.0f, 0.0f));
cols[1] = Rotate(q, Vec3(0.0f, 1.0f, 0.0f));
cols[2] = Rotate(q, Vec3(0.0f, 0.0f, 1.0f));
}
CUDA_CALLABLE float operator()(int i, int j) const {
return static_cast<const float *>(cols[j])[i];
}
CUDA_CALLABLE float &operator()(int i, int j) {
return static_cast<float *>(cols[j])[i];
}
Vec3 cols[3];
CUDA_CALLABLE static inline Matrix33 Identity() {
const Matrix33 sIdentity(Vec3(1.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f),
Vec3(0.0f, 0.0f, 1.0f));
return sIdentity;
}
};
CUDA_CALLABLE inline Matrix33 Multiply(float s, const Matrix33 &m) {
Matrix33 r = m;
r.cols[0] *= s;
r.cols[1] *= s;
r.cols[2] *= s;
return r;
}
CUDA_CALLABLE inline Vec3 Multiply(const Matrix33 &a, const Vec3 &x) {
return a.cols[0] * x.x + a.cols[1] * x.y + a.cols[2] * x.z;
}
CUDA_CALLABLE inline Vec3 operator*(const Matrix33 &a, const Vec3 &x) {
return Multiply(a, x);
}
CUDA_CALLABLE inline Matrix33 Multiply(const Matrix33 &a, const Matrix33 &b) {
Matrix33 r;
r.cols[0] = a * b.cols[0];
r.cols[1] = a * b.cols[1];
r.cols[2] = a * b.cols[2];
return r;
}
CUDA_CALLABLE inline Matrix33 Add(const Matrix33 &a, const Matrix33 &b) {
return Matrix33(a.cols[0] + b.cols[0], a.cols[1] + b.cols[1],
a.cols[2] + b.cols[2]);
}
CUDA_CALLABLE inline float Determinant(const Matrix33 &m) {
return Dot(m.cols[0], Cross(m.cols[1], m.cols[2]));
}
CUDA_CALLABLE inline Matrix33 Transpose(const Matrix33 &a) {
Matrix33 r;
for (uint32_t i = 0; i < 3; ++i)
for (uint32_t j = 0; j < 3; ++j)
r(i, j) = a(j, i);
return r;
}
CUDA_CALLABLE inline float Trace(const Matrix33 &a) {
return a(0, 0) + a(1, 1) + a(2, 2);
}
CUDA_CALLABLE inline Matrix33 Outer(const Vec3 &a, const Vec3 &b) {
return Matrix33(a * b.x, a * b.y, a * b.z);
}
CUDA_CALLABLE inline Matrix33 Inverse(const Matrix33 &a, bool &success) {
float s = Determinant(a);
const float eps = 0.0f;
if (fabsf(s) > eps) {
Matrix33 b;
b(0, 0) = a(1, 1) * a(2, 2) - a(1, 2) * a(2, 1);
b(0, 1) = a(0, 2) * a(2, 1) - a(0, 1) * a(2, 2);
b(0, 2) = a(0, 1) * a(1, 2) - a(0, 2) * a(1, 1);
b(1, 0) = a(1, 2) * a(2, 0) - a(1, 0) * a(2, 2);
b(1, 1) = a(0, 0) * a(2, 2) - a(0, 2) * a(2, 0);
b(1, 2) = a(0, 2) * a(1, 0) - a(0, 0) * a(1, 2);
b(2, 0) = a(1, 0) * a(2, 1) - a(1, 1) * a(2, 0);
b(2, 1) = a(0, 1) * a(2, 0) - a(0, 0) * a(2, 1);
b(2, 2) = a(0, 0) * a(1, 1) - a(0, 1) * a(1, 0);
success = true;
return Multiply(1.0f / s, b);
} else {
success = false;
return Matrix33();
}
}
CUDA_CALLABLE inline Matrix33 InverseDouble(const Matrix33 &a, bool &success) {
double m[3][3];
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
m[i][j] = a(i, j);
double det = m[0][0] * (m[2][2] * m[1][1] - m[2][1] * m[1][2]) -
m[1][0] * (m[2][2] * m[0][1] - m[2][1] * m[0][2]) +
m[2][0] * (m[1][2] * m[0][1] - m[1][1] * m[0][2]);
const double eps = 0.0f;
if (fabs(det) > eps) {
double b[3][3];
b[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];
b[0][1] = m[0][2] * m[2][1] - m[0][1] * m[2][2];
b[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1];
b[1][0] = m[1][2] * m[2][0] - m[1][0] * m[2][2];
b[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];
b[1][2] = m[0][2] * m[1][0] - m[0][0] * m[1][2];
b[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0];
b[2][1] = m[0][1] * m[2][0] - m[0][0] * m[2][1];
b[2][2] = m[0][0] * m[1][1] - m[0][1] * m[1][0];
success = true;
double invDet = 1.0 / det;
Matrix33 out;
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
out(i, j) = (float)(b[i][j] * invDet);
return out;
} else {
success = false;
Matrix33 out;
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
out(i, j) = 0.0f;
return out;
}
}
CUDA_CALLABLE inline Matrix33 operator*(float s, const Matrix33 &a) {
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix33 operator*(const Matrix33 &a, float s) {
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix33 operator*(const Matrix33 &a, const Matrix33 &b) {
return Multiply(a, b);
}
CUDA_CALLABLE inline Matrix33 operator+(const Matrix33 &a, const Matrix33 &b) {
return Add(a, b);
}
CUDA_CALLABLE inline Matrix33 operator-(const Matrix33 &a, const Matrix33 &b) {
return Add(a, -1.0f * b);
}
CUDA_CALLABLE inline Matrix33 &operator+=(Matrix33 &a, const Matrix33 &b) {
a = a + b;
return a;
}
CUDA_CALLABLE inline Matrix33 &operator-=(Matrix33 &a, const Matrix33 &b) {
a = a - b;
return a;
}
CUDA_CALLABLE inline Matrix33 &operator*=(Matrix33 &a, float s) {
a.cols[0] *= s;
a.cols[1] *= s;
a.cols[2] *= s;
return a;
}
CUDA_CALLABLE inline Matrix33 Skew(const Vec3 &v) {
return Matrix33(Vec3(0.0f, v.z, -v.y), Vec3(-v.z, 0.0f, v.x),
Vec3(v.y, -v.x, 0.0f));
}
template <typename T> CUDA_CALLABLE inline XQuat<T>::XQuat(const Matrix33 &m) {
float tr = m(0, 0) + m(1, 1) + m(2, 2), h;
if (tr >= 0) {
h = sqrtf(tr + 1);
w = 0.5f * h;
h = 0.5f / h;
x = (m(2, 1) - m(1, 2)) * h;
y = (m(0, 2) - m(2, 0)) * h;
z = (m(1, 0) - m(0, 1)) * h;
} else {
unsigned int i = 0;
if (m(1, 1) > m(0, 0))
i = 1;
if (m(2, 2) > m(i, i))
i = 2;
switch (i) {
case 0:
h = sqrtf((m(0, 0) - (m(1, 1) + m(2, 2))) + 1);
x = 0.5f * h;
h = 0.5f / h;
y = (m(0, 1) + m(1, 0)) * h;
z = (m(2, 0) + m(0, 2)) * h;
w = (m(2, 1) - m(1, 2)) * h;
break;
case 1:
h = sqrtf((m(1, 1) - (m(2, 2) + m(0, 0))) + 1);
y = 0.5f * h;
h = 0.5f / h;
z = (m(1, 2) + m(2, 1)) * h;
x = (m(0, 1) + m(1, 0)) * h;
w = (m(0, 2) - m(2, 0)) * h;
break;
case 2:
h = sqrtf((m(2, 2) - (m(0, 0) + m(1, 1))) + 1);
z = 0.5f * h;
h = 0.5f / h;
x = (m(2, 0) + m(0, 2)) * h;
y = (m(1, 2) + m(2, 1)) * h;
w = (m(1, 0) - m(0, 1)) * h;
break;
default: // Make compiler happy
x = y = z = w = 0;
break;
}
}
*this = Normalize(*this);
}
CUDA_CALLABLE inline void quat2Mat(const XQuat<float> &q, Matrix33 &m) {
float sqx = q.x * q.x;
float sqy = q.y * q.y;
float sqz = q.z * q.z;
float squ = q.w * q.w;
float s = 1.f / (sqx + sqy + sqz + squ);
m(0, 0) = 1.f - 2.f * s * (sqy + sqz);
m(0, 1) = 2.f * s * (q.x * q.y - q.z * q.w);
m(0, 2) = 2.f * s * (q.x * q.z + q.y * q.w);
m(1, 0) = 2.f * s * (q.x * q.y + q.z * q.w);
m(1, 1) = 1.f - 2.f * s * (sqx + sqz);
m(1, 2) = 2.f * s * (q.y * q.z - q.x * q.w);
m(2, 0) = 2.f * s * (q.x * q.z - q.y * q.w);
m(2, 1) = 2.f * s * (q.y * q.z + q.x * q.w);
m(2, 2) = 1.f - 2.f * s * (sqx + sqy);
}
// rotation is using new rotation axis
// rotation: Rx(X)*Ry(Y)*Rz(Z)
CUDA_CALLABLE inline void getEulerXYZ(const XQuat<float> &q, float &X, float &Y,
float &Z) {
Matrix33 rot;
quat2Mat(q, rot);
float cy = sqrtf(rot(2, 2) * rot(2, 2) + rot(1, 2) * rot(1, 2));
if (cy > 1e-6f) {
Z = -atan2(rot(0, 1), rot(0, 0));
Y = -atan2(-rot(0, 2), cy);
X = -atan2(rot(1, 2), rot(2, 2));
} else {
Z = -atan2(-rot(1, 0), rot(1, 1));
Y = -atan2(-rot(0, 2), cy);
X = 0.0f;
}
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/mat22.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "vec2.h"
struct Matrix22 {
CUDA_CALLABLE Matrix22() {}
CUDA_CALLABLE Matrix22(float a, float b, float c, float d) {
cols[0] = Vec2(a, c);
cols[1] = Vec2(b, d);
}
CUDA_CALLABLE Matrix22(const Vec2 &c1, const Vec2 &c2) {
cols[0] = c1;
cols[1] = c2;
}
CUDA_CALLABLE float operator()(int i, int j) const {
return static_cast<const float *>(cols[j])[i];
}
CUDA_CALLABLE float &operator()(int i, int j) {
return static_cast<float *>(cols[j])[i];
}
Vec2 cols[2];
static inline Matrix22 Identity() {
static const Matrix22 sIdentity(Vec2(1.0f, 0.0f), Vec2(0.0f, 1.0f));
return sIdentity;
}
};
CUDA_CALLABLE inline Matrix22 Multiply(float s, const Matrix22 &m) {
Matrix22 r = m;
r.cols[0] *= s;
r.cols[1] *= s;
return r;
}
CUDA_CALLABLE inline Matrix22 Multiply(const Matrix22 &a, const Matrix22 &b) {
Matrix22 r;
r.cols[0] = a.cols[0] * b.cols[0].x + a.cols[1] * b.cols[0].y;
r.cols[1] = a.cols[0] * b.cols[1].x + a.cols[1] * b.cols[1].y;
return r;
}
CUDA_CALLABLE inline Matrix22 Add(const Matrix22 &a, const Matrix22 &b) {
return Matrix22(a.cols[0] + b.cols[0], a.cols[1] + b.cols[1]);
}
CUDA_CALLABLE inline Vec2 Multiply(const Matrix22 &a, const Vec2 &x) {
return a.cols[0] * x.x + a.cols[1] * x.y;
}
CUDA_CALLABLE inline Matrix22 operator*(float s, const Matrix22 &a) {
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix22 operator*(const Matrix22 &a, float s) {
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix22 operator*(const Matrix22 &a, const Matrix22 &b) {
return Multiply(a, b);
}
CUDA_CALLABLE inline Matrix22 operator+(const Matrix22 &a, const Matrix22 &b) {
return Add(a, b);
}
CUDA_CALLABLE inline Matrix22 operator-(const Matrix22 &a, const Matrix22 &b) {
return Add(a, -1.0f * b);
}
CUDA_CALLABLE inline Matrix22 &operator+=(Matrix22 &a, const Matrix22 &b) {
a = a + b;
return a;
}
CUDA_CALLABLE inline Matrix22 &operator-=(Matrix22 &a, const Matrix22 &b) {
a = a - b;
return a;
}
CUDA_CALLABLE inline Matrix22 &operator*=(Matrix22 &a, float s) {
a = a * s;
return a;
}
CUDA_CALLABLE inline Vec2 operator*(const Matrix22 &a, const Vec2 &x) {
return Multiply(a, x);
}
CUDA_CALLABLE inline float Determinant(const Matrix22 &m) {
return m(0, 0) * m(1, 1) - m(1, 0) * m(0, 1);
}
CUDA_CALLABLE inline Matrix22 Inverse(const Matrix22 &m, float &det) {
det = Determinant(m);
if (fabsf(det) > FLT_EPSILON) {
Matrix22 inv;
inv(0, 0) = m(1, 1);
inv(1, 1) = m(0, 0);
inv(0, 1) = -m(0, 1);
inv(1, 0) = -m(1, 0);
return Multiply(1.0f / det, inv);
} else {
det = 0.0f;
return m;
}
}
CUDA_CALLABLE inline Matrix22 Transpose(const Matrix22 &a) {
Matrix22 r;
r(0, 0) = a(0, 0);
r(0, 1) = a(1, 0);
r(1, 0) = a(0, 1);
r(1, 1) = a(1, 1);
return r;
}
CUDA_CALLABLE inline float Trace(const Matrix22 &a) {
return a(0, 0) + a(1, 1);
}
CUDA_CALLABLE inline Matrix22 RotationMatrix(float theta) {
return Matrix22(Vec2(cosf(theta), sinf(theta)),
Vec2(-sinf(theta), cosf(theta)));
}
// outer product of a and b, b is considered a row vector
CUDA_CALLABLE inline Matrix22 Outer(const Vec2 &a, const Vec2 &b) {
return Matrix22(a * b.x, a * b.y);
}
CUDA_CALLABLE inline Matrix22 QRDecomposition(const Matrix22 &m) {
Vec2 a = Normalize(m.cols[0]);
Matrix22 q(a, PerpCCW(a));
return q;
}
CUDA_CALLABLE inline Matrix22 PolarDecomposition(const Matrix22 &m) {
/*
//iterative method
float det;
Matrix22 q = m;
for (int i=0; i < 4; ++i)
{
q = 0.5f*(q + Inverse(Transpose(q), det));
}
*/
Matrix22 q = m + Matrix22(m(1, 1), -m(1, 0), -m(0, 1), m(0, 0));
float s = Length(q.cols[0]);
q.cols[0] /= s;
q.cols[1] /= s;
return q;
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/vec2.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#if defined(_WIN32) && !defined(__CUDACC__)
#if defined(_DEBUG)
#define VEC2_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
}
#else
#define VEC2_VALIDATE() \
{ \
assert(isfinite(x)); \
assert(isfinite(y)); \
}
#endif // _WIN32
#else
#define VEC2_VALIDATE()
#endif
#ifdef _DEBUG
#define FLOAT_VALIDATE(f) \
{ \
assert(_finite(f)); \
assert(!_isnan(f)); \
}
#else
#define FLOAT_VALIDATE(f)
#endif
// vec2
template <typename T> class XVector2 {
public:
typedef T value_type;
CUDA_CALLABLE XVector2() : x(0.0f), y(0.0f) { VEC2_VALIDATE(); }
CUDA_CALLABLE XVector2(T _x) : x(_x), y(_x) { VEC2_VALIDATE(); }
CUDA_CALLABLE XVector2(T _x, T _y) : x(_x), y(_y) { VEC2_VALIDATE(); }
CUDA_CALLABLE XVector2(const T *p) : x(p[0]), y(p[1]) {}
template <typename U>
CUDA_CALLABLE explicit XVector2(const XVector2<U> &v) : x(v.x), y(v.y) {}
CUDA_CALLABLE operator T *() { return &x; }
CUDA_CALLABLE operator const T *() const { return &x; };
CUDA_CALLABLE void Set(T x_, T y_) {
VEC2_VALIDATE();
x = x_;
y = y_;
}
CUDA_CALLABLE XVector2<T> operator*(T scale) const {
XVector2<T> r(*this);
r *= scale;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator/(T scale) const {
XVector2<T> r(*this);
r /= scale;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator+(const XVector2<T> &v) const {
XVector2<T> r(*this);
r += v;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator-(const XVector2<T> &v) const {
XVector2<T> r(*this);
r -= v;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> &operator*=(T scale) {
x *= scale;
y *= scale;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T> &operator/=(T scale) {
T s(1.0f / scale);
x *= s;
y *= s;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T> &operator+=(const XVector2<T> &v) {
x += v.x;
y += v.y;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T> &operator-=(const XVector2<T> &v) {
x -= v.x;
y -= v.y;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T> &operator*=(const XVector2<T> &scale) {
x *= scale.x;
y *= scale.y;
VEC2_VALIDATE();
return *this;
}
// negate
CUDA_CALLABLE XVector2<T> operator-() const {
VEC2_VALIDATE();
return XVector2<T>(-x, -y);
}
T x;
T y;
};
typedef XVector2<float> Vec2;
typedef XVector2<float> Vector2;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector2<T> operator*(T lhs, const XVector2<T> &rhs) {
XVector2<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE XVector2<T> operator*(const XVector2<T> &lhs,
const XVector2<T> &rhs) {
XVector2<T> r(lhs);
r *= rhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector2<T> &lhs, const XVector2<T> &rhs) {
return (lhs.x == rhs.x && lhs.y == rhs.y);
}
template <typename T>
CUDA_CALLABLE T Dot(const XVector2<T> &v1, const XVector2<T> &v2) {
return v1.x * v2.x + v1.y * v2.y;
}
// returns the ccw perpendicular vector
template <typename T> CUDA_CALLABLE XVector2<T> PerpCCW(const XVector2<T> &v) {
return XVector2<T>(-v.y, v.x);
}
template <typename T> CUDA_CALLABLE XVector2<T> PerpCW(const XVector2<T> &v) {
return XVector2<T>(v.y, -v.x);
}
// component wise min max functions
template <typename T>
CUDA_CALLABLE XVector2<T> Max(const XVector2<T> &a, const XVector2<T> &b) {
return XVector2<T>(Max(a.x, b.x), Max(a.y, b.y));
}
template <typename T>
CUDA_CALLABLE XVector2<T> Min(const XVector2<T> &a, const XVector2<T> &b) {
return XVector2<T>(Min(a.x, b.x), Min(a.y, b.y));
}
// 2d cross product, treat as if a and b are in the xy plane and return
// magnitude of z
template <typename T>
CUDA_CALLABLE T Cross(const XVector2<T> &a, const XVector2<T> &b) {
return (a.x * b.y - a.y * b.x);
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/point3.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "vec4.h"
#include <ostream>
class Point3 {
public:
CUDA_CALLABLE Point3() : x(0), y(0), z(0) {}
CUDA_CALLABLE Point3(float a) : x(a), y(a), z(a) {}
CUDA_CALLABLE Point3(const float *p) : x(p[0]), y(p[1]), z(p[2]) {}
CUDA_CALLABLE Point3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) {
Validate();
}
CUDA_CALLABLE explicit Point3(const Vec3 &v) : x(v.x), y(v.y), z(v.z) {}
CUDA_CALLABLE operator float *() { return &x; }
CUDA_CALLABLE operator const float *() const { return &x; };
CUDA_CALLABLE operator Vec4() const { return Vec4(x, y, z, 1.0f); }
CUDA_CALLABLE void Set(float x_, float y_, float z_) {
Validate();
x = x_;
y = y_;
z = z_;
}
CUDA_CALLABLE Point3 operator*(float scale) const {
Point3 r(*this);
r *= scale;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator/(float scale) const {
Point3 r(*this);
r /= scale;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator+(const Vec3 &v) const {
Point3 r(*this);
r += v;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator-(const Vec3 &v) const {
Point3 r(*this);
r -= v;
Validate();
return r;
}
CUDA_CALLABLE Point3 &operator*=(float scale) {
x *= scale;
y *= scale;
z *= scale;
Validate();
return *this;
}
CUDA_CALLABLE Point3 &operator/=(float scale) {
float s(1.0f / scale);
x *= s;
y *= s;
z *= s;
Validate();
return *this;
}
CUDA_CALLABLE Point3 &operator+=(const Vec3 &v) {
x += v.x;
y += v.y;
z += v.z;
Validate();
return *this;
}
CUDA_CALLABLE Point3 &operator-=(const Vec3 &v) {
x -= v.x;
y -= v.y;
z -= v.z;
Validate();
return *this;
}
CUDA_CALLABLE Point3 &operator=(const Vec3 &v) {
x = v.x;
y = v.y;
z = v.z;
return *this;
}
CUDA_CALLABLE bool operator!=(const Point3 &v) const {
return (x != v.x || y != v.y || z != v.z);
}
// negate
CUDA_CALLABLE Point3 operator-() const {
Validate();
return Point3(-x, -y, -z);
}
float x, y, z;
CUDA_CALLABLE void Validate() const {}
};
// lhs scalar scale
CUDA_CALLABLE inline Point3 operator*(float lhs, const Point3 &rhs) {
Point3 r(rhs);
r *= lhs;
return r;
}
CUDA_CALLABLE inline Vec3 operator-(const Point3 &lhs, const Point3 &rhs) {
return Vec3(lhs.x - rhs.x, lhs.y - rhs.y, lhs.z - rhs.z);
}
CUDA_CALLABLE inline Point3 operator+(const Point3 &lhs, const Point3 &rhs) {
return Point3(lhs.x + rhs.x, lhs.y + rhs.y, lhs.z + rhs.z);
}
CUDA_CALLABLE inline bool operator==(const Point3 &lhs, const Point3 &rhs) {
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
}
// component wise min max functions
CUDA_CALLABLE inline Point3 Max(const Point3 &a, const Point3 &b) {
return Point3(Max(a.x, b.x), Max(a.y, b.y), Max(a.z, b.z));
}
CUDA_CALLABLE inline Point3 Min(const Point3 &a, const Point3 &b) {
return Point3(Min(a.x, b.x), Min(a.y, b.y), Min(a.z, b.z));
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/quat.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "vec3.h"
#include <cassert>
struct Matrix33;
template <typename T> class XQuat {
public:
typedef T value_type;
CUDA_CALLABLE XQuat() : x(0), y(0), z(0), w(1.0) {}
CUDA_CALLABLE XQuat(const T *p) : x(p[0]), y(p[1]), z(p[2]), w(p[3]) {}
CUDA_CALLABLE XQuat(T x_, T y_, T z_, T w_) : x(x_), y(y_), z(z_), w(w_) {}
CUDA_CALLABLE XQuat(const Vec3 &v, float w) : x(v.x), y(v.y), z(v.z), w(w) {}
CUDA_CALLABLE explicit XQuat(const Matrix33 &m);
CUDA_CALLABLE operator T *() { return &x; }
CUDA_CALLABLE operator const T *() const { return &x; };
CUDA_CALLABLE void Set(T x_, T y_, T z_, T w_) {
x = x_;
y = y_;
z = z_;
w = w_;
}
CUDA_CALLABLE XQuat<T> operator*(T scale) const {
XQuat<T> r(*this);
r *= scale;
return r;
}
CUDA_CALLABLE XQuat<T> operator/(T scale) const {
XQuat<T> r(*this);
r /= scale;
return r;
}
CUDA_CALLABLE XQuat<T> operator+(const XQuat<T> &v) const {
XQuat<T> r(*this);
r += v;
return r;
}
CUDA_CALLABLE XQuat<T> operator-(const XQuat<T> &v) const {
XQuat<T> r(*this);
r -= v;
return r;
}
CUDA_CALLABLE XQuat<T> operator*(XQuat<T> q) const {
// quaternion multiplication
return XQuat<T>(w * q.x + q.w * x + y * q.z - q.y * z,
w * q.y + q.w * y + z * q.x - q.z * x,
w * q.z + q.w * z + x * q.y - q.x * y,
w * q.w - x * q.x - y * q.y - z * q.z);
}
CUDA_CALLABLE XQuat<T> &operator*=(T scale) {
x *= scale;
y *= scale;
z *= scale;
w *= scale;
return *this;
}
CUDA_CALLABLE XQuat<T> &operator/=(T scale) {
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
w *= s;
return *this;
}
CUDA_CALLABLE XQuat<T> &operator+=(const XQuat<T> &v) {
x += v.x;
y += v.y;
z += v.z;
w += v.w;
return *this;
}
CUDA_CALLABLE XQuat<T> &operator-=(const XQuat<T> &v) {
x -= v.x;
y -= v.y;
z -= v.z;
w -= v.w;
return *this;
}
CUDA_CALLABLE bool operator!=(const XQuat<T> &v) const {
return (x != v.x || y != v.y || z != v.z || w != v.w);
}
// negate
CUDA_CALLABLE XQuat<T> operator-() const { return XQuat<T>(-x, -y, -z, -w); }
CUDA_CALLABLE XVector3<T> GetAxis() const { return XVector3<T>(x, y, z); }
T x, y, z, w;
};
typedef XQuat<float> Quat;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XQuat<T> operator*(T lhs, const XQuat<T> &rhs) {
XQuat<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XQuat<T> &lhs, const XQuat<T> &rhs) {
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z && lhs.w == rhs.w);
}
template <typename T>
CUDA_CALLABLE inline XQuat<T> QuatFromAxisAngle(const Vec3 &axis, float angle) {
Vec3 v = Normalize(axis);
float half = angle * 0.5f;
float w = cosf(half);
const float sin_theta_over_two = sinf(half);
v *= sin_theta_over_two;
return XQuat<T>(v.x, v.y, v.z, w);
}
CUDA_CALLABLE inline float Dot(const Quat &a, const Quat &b) {
return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
}
CUDA_CALLABLE inline float Length(const Quat &a) { return sqrtf(Dot(a, a)); }
CUDA_CALLABLE inline Quat QuatFromEulerZYX(float rotx, float roty, float rotz) {
Quat q;
// Abbreviations for the various angular functions
float cy = cos(rotz * 0.5f);
float sy = sin(rotz * 0.5f);
float cr = cos(rotx * 0.5f);
float sr = sin(rotx * 0.5f);
float cp = cos(roty * 0.5f);
float sp = sin(roty * 0.5f);
q.w = (float)(cy * cr * cp + sy * sr * sp);
q.x = (float)(cy * sr * cp - sy * cr * sp);
q.y = (float)(cy * cr * sp + sy * sr * cp);
q.z = (float)(sy * cr * cp - cy * sr * sp);
return q;
}
CUDA_CALLABLE inline void EulerFromQuatZYX(const Quat &q, float &rotx,
float &roty, float &rotz) {
float x = q.x, y = q.y, z = q.z, w = q.w;
float t0 = x * x - z * z;
float t1 = w * w - y * y;
float xx = 0.5f * (t0 + t1); // 1/2 x of x'
float xy = x * y + w * z; // 1/2 y of x'
float xz = w * y - x * z; // 1/2 z of x'
float t = xx * xx + xy * xy; // cos(theta)^2
float yz = 2.0f * (y * z + w * x); // z of y'
rotz = atan2(xy, xx); // yaw (psi)
roty = atan(xz / sqrt(t)); // pitch (theta)
// todo: doublecheck!
if (fabsf(t) > 1e-6f) {
rotx = (float)atan2(yz, t1 - t0);
} else {
rotx = (float)(2.0f * atan2(x, w) - copysignf(1.0f, xz) * rotz);
}
}
// converts Euler angles to quaternion performing an intrinsic rotation in yaw
// then pitch then roll order i.e. first rotate by yaw around z, then rotate by
// pitch around the rotated y axis, then rotate around roll around the twice (by
// yaw and pitch) rotated x axis
CUDA_CALLABLE inline Quat rpy2quat(const float roll, const float pitch,
const float yaw) {
Quat q;
// Abbreviations for the various angular functions
float cy = cos(yaw * 0.5f);
float sy = sin(yaw * 0.5f);
float cr = cos(roll * 0.5f);
float sr = sin(roll * 0.5f);
float cp = cos(pitch * 0.5f);
float sp = sin(pitch * 0.5f);
q.w = (float)(cy * cr * cp + sy * sr * sp);
q.x = (float)(cy * sr * cp - sy * cr * sp);
q.y = (float)(cy * cr * sp + sy * sr * cp);
q.z = (float)(sy * cr * cp - cy * sr * sp);
return q;
}
// converts Euler angles to quaternion performing an intrinsic rotation in x
// then y then z order i.e. first rotate by x_rot around x, then rotate by y_rot
// around the rotated y axis, then rotate by z_rot around the twice (by roll and
// pitch) rotated z axis
CUDA_CALLABLE inline Quat euler_xyz2quat(const float x_rot, const float y_rot,
const float z_rot) {
Quat q;
// Abbreviations for the various angular functions
float cy = std::cos(z_rot * 0.5f);
float sy = std::sin(z_rot * 0.5f);
float cr = std::cos(x_rot * 0.5f);
float sr = std::sin(x_rot * 0.5f);
float cp = std::cos(y_rot * 0.5f);
float sp = std::sin(y_rot * 0.5f);
q.w = (float)(cy * cr * cp - sy * sr * sp);
q.x = (float)(cy * sr * cp + sy * cr * sp);
q.y = (float)(cy * cr * sp - sy * sr * cp);
q.z = (float)(sy * cr * cp + cy * sr * sp);
return q;
}
// !!! preist@ This function produces euler angles according to this convention:
// https://www.euclideanspace.com/maths/standards/index.htm Heading = rotation
// about y axis Attitude = rotation about z axis Bank = rotation about x axis
// Order: Heading (y) -> Attitude (z) -> Bank (x), and applied intrinsically
CUDA_CALLABLE inline void quat2rpy(const Quat &q1, float &bank, float &attitude,
float &heading) {
float sqw = q1.w * q1.w;
float sqx = q1.x * q1.x;
float sqy = q1.y * q1.y;
float sqz = q1.z * q1.z;
float unit = sqx + sqy + sqz +
sqw; // if normalised is one, otherwise is correction factor
float test = q1.x * q1.y + q1.z * q1.w;
if (test > 0.499f * unit) { // singularity at north pole
heading = 2.f * atan2(q1.x, q1.w);
attitude = kPi / 2.f;
bank = 0.f;
return;
}
if (test < -0.499f * unit) { // singularity at south pole
heading = -2.f * atan2(q1.x, q1.w);
attitude = -kPi / 2.f;
bank = 0.f;
return;
}
heading = atan2(2.f * q1.x * q1.y + 2.f * q1.w * q1.z, sqx - sqy - sqz + sqw);
attitude = asin(-2.f * q1.x * q1.z + 2.f * q1.y * q1.w);
bank = atan2(2.f * q1.y * q1.z + 2.f * q1.x * q1.w, -sqx - sqy + sqz + sqw);
}
// preist@:
// The Euler angles correspond to an extrinsic x-y-z i.e. intrinsic z-y-x
// rotation and this function does not guard against gimbal lock
CUDA_CALLABLE inline void zUpQuat2rpy(const Quat &q1, float &roll, float &pitch,
float &yaw) {
// roll (x-axis rotation)
float sinr_cosp = 2.0f * (q1.w * q1.x + q1.y * q1.z);
float cosr_cosp = 1.0f - 2.0f * (q1.x * q1.x + q1.y * q1.y);
roll = atan2(sinr_cosp, cosr_cosp);
// pitch (y-axis rotation)
float sinp = 2.0f * (q1.w * q1.y - q1.z * q1.x);
if (fabs(sinp) > 0.999f)
pitch = (float)copysign(kPi / 2.0f, sinp);
else
pitch = asin(sinp);
// yaw (z-axis rotation)
float siny_cosp = 2.0f * (q1.w * q1.z + q1.x * q1.y);
float cosy_cosp = 1.0f - 2.0f * (q1.y * q1.y + q1.z * q1.z);
yaw = atan2(siny_cosp, cosy_cosp);
}
CUDA_CALLABLE inline void getEulerZYX(const Quat &q, float &yawZ, float &pitchY,
float &rollX) {
float squ;
float sqx;
float sqy;
float sqz;
float sarg;
sqx = q.x * q.x;
sqy = q.y * q.y;
sqz = q.z * q.z;
squ = q.w * q.w;
rollX = atan2(2 * (q.y * q.z + q.w * q.x), squ - sqx - sqy + sqz);
sarg = (-2.0f) * (q.x * q.z - q.w * q.y);
pitchY = sarg <= (-1.0f) ? (-0.5f) * kPi
: (sarg >= (1.0f) ? (0.5f) * kPi : asinf(sarg));
yawZ = atan2(2 * (q.x * q.y + q.w * q.z), squ + sqx - sqy - sqz);
}
// rotate vector by quaternion (q, w)
CUDA_CALLABLE inline Vec3 Rotate(const Quat &q, const Vec3 &x) {
return x * (2.0f * q.w * q.w - 1.0f) + Cross(Vec3(q), x) * q.w * 2.0f +
Vec3(q) * Dot(Vec3(q), x) * 2.0f;
}
CUDA_CALLABLE inline Vec3 operator*(const Quat &q, const Vec3 &v) {
return Rotate(q, v);
}
CUDA_CALLABLE inline Vec3 GetBasisVector0(const Quat &q) {
return Rotate(q, Vec3(1.0f, 0.0f, 0.0f));
}
CUDA_CALLABLE inline Vec3 GetBasisVector1(const Quat &q) {
return Rotate(q, Vec3(0.0f, 1.0f, 0.0f));
}
CUDA_CALLABLE inline Vec3 GetBasisVector2(const Quat &q) {
return Rotate(q, Vec3(0.0f, 0.0f, 1.0f));
}
// rotate vector by inverse transform in (q, w)
CUDA_CALLABLE inline Vec3 RotateInv(const Quat &q, const Vec3 &x) {
return x * (2.0f * q.w * q.w - 1.0f) - Cross(Vec3(q), x) * q.w * 2.0f +
Vec3(q) * Dot(Vec3(q), x) * 2.0f;
}
CUDA_CALLABLE inline Quat Inverse(const Quat &q) {
return Quat(-q.x, -q.y, -q.z, q.w);
}
CUDA_CALLABLE inline Quat Normalize(const Quat &q) {
float lSq = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
if (lSq > 0.0f) {
float invL = 1.0f / sqrtf(lSq);
return q * invL;
} else
return Quat();
}
//
// given two quaternions and a time-step returns the corresponding angular
// velocity vector
//
CUDA_CALLABLE inline Vec3 DifferentiateQuat(const Quat &q1, const Quat &q0,
float invdt) {
Quat dq = q1 * Inverse(q0);
float sinHalfTheta = Length(dq.GetAxis());
float theta = asinf(sinHalfTheta) * 2.0f;
if (fabsf(theta) < 0.001f) {
// use linear approximation approx for small angles
Quat dqdt = (q1 - q0) * invdt;
Quat omega = dqdt * Inverse(q0);
return Vec3(omega.x, omega.y, omega.z) * 2.0f;
} else {
// use inverse exponential map
Vec3 axis = Normalize(dq.GetAxis());
return axis * theta * invdt;
}
}
CUDA_CALLABLE inline Quat IntegrateQuat(const Vec3 &omega, const Quat &q0,
float dt) {
Vec3 axis;
float w = Length(omega);
if (w * dt < 0.001f) {
// sinc approx for small angles
axis = omega * (0.5f * dt - (dt * dt * dt) / 48.0f * w * w);
} else {
axis = omega * (sinf(0.5f * w * dt) / w);
}
Quat dq;
dq.x = axis.x;
dq.y = axis.y;
dq.z = axis.z;
dq.w = cosf(w * dt * 0.5f);
Quat q1 = dq * q0;
// explicit re-normalization here otherwise we do some see energy drift
return Normalize(q1);
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/vec3.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#if 0 //_DEBUG
#define VEC3_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
\
assert(_finite(z)); \
assert(!_isnan(z)); \
}
#else
#define VEC3_VALIDATE()
#endif
template <typename T = float> class XVector3 {
public:
typedef T value_type;
CUDA_CALLABLE inline XVector3() : x(0.0f), y(0.0f), z(0.0f) {}
CUDA_CALLABLE inline XVector3(T a) : x(a), y(a), z(a) {}
CUDA_CALLABLE inline XVector3(const T *p) : x(p[0]), y(p[1]), z(p[2]) {}
CUDA_CALLABLE inline XVector3(T x_, T y_, T z_) : x(x_), y(y_), z(z_) {
VEC3_VALIDATE();
}
CUDA_CALLABLE inline operator T *() { return &x; }
CUDA_CALLABLE inline operator const T *() const { return &x; };
CUDA_CALLABLE inline void Set(T x_, T y_, T z_) {
VEC3_VALIDATE();
x = x_;
y = y_;
z = z_;
}
CUDA_CALLABLE inline XVector3<T> operator*(T scale) const {
XVector3<T> r(*this);
r *= scale;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator/(T scale) const {
XVector3<T> r(*this);
r /= scale;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator+(const XVector3<T> &v) const {
XVector3<T> r(*this);
r += v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator-(const XVector3<T> &v) const {
XVector3<T> r(*this);
r -= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator/(const XVector3<T> &v) const {
XVector3<T> r(*this);
r /= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator*(const XVector3<T> &v) const {
XVector3<T> r(*this);
r *= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> &operator*=(T scale) {
x *= scale;
y *= scale;
z *= scale;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T> &operator/=(T scale) {
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T> &operator+=(const XVector3<T> &v) {
x += v.x;
y += v.y;
z += v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T> &operator-=(const XVector3<T> &v) {
x -= v.x;
y -= v.y;
z -= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T> &operator/=(const XVector3<T> &v) {
x /= v.x;
y /= v.y;
z /= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T> &operator*=(const XVector3<T> &v) {
x *= v.x;
y *= v.y;
z *= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline bool operator!=(const XVector3<T> &v) const {
return (x != v.x || y != v.y || z != v.z);
}
// negate
CUDA_CALLABLE inline XVector3<T> operator-() const {
VEC3_VALIDATE();
return XVector3<T>(-x, -y, -z);
}
CUDA_CALLABLE void Validate() { VEC3_VALIDATE(); }
T x, y, z;
};
typedef XVector3<float> Vec3;
typedef XVector3<float> Vector3;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector3<T> operator*(T lhs, const XVector3<T> &rhs) {
XVector3<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector3<T> &lhs, const XVector3<T> &rhs) {
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
}
template <typename T>
CUDA_CALLABLE typename T::value_type Dot3(const T &v1, const T &v2) {
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
CUDA_CALLABLE inline float Dot3(const float *v1, const float *v2) {
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
template <typename T>
CUDA_CALLABLE inline T Dot(const XVector3<T> &v1, const XVector3<T> &v2) {
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
CUDA_CALLABLE inline Vec3 Cross(const Vec3 &b, const Vec3 &c) {
return Vec3(b.y * c.z - b.z * c.y, b.z * c.x - b.x * c.z,
b.x * c.y - b.y * c.x);
}
// component wise min max functions
template <typename T>
CUDA_CALLABLE inline XVector3<T> Max(const XVector3<T> &a,
const XVector3<T> &b) {
return XVector3<T>(Max(a.x, b.x), Max(a.y, b.y), Max(a.z, b.z));
}
template <typename T>
CUDA_CALLABLE inline XVector3<T> Min(const XVector3<T> &a,
const XVector3<T> &b) {
return XVector3<T>(Min(a.x, b.x), Min(a.y, b.y), Min(a.z, b.z));
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/matnn.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
template <int m, int n, typename T = double> class XMatrix {
public:
XMatrix() { memset(data, 0, sizeof(*this)); }
XMatrix(const XMatrix<m, n> &a) { memcpy(data, a.data, sizeof(*this)); }
template <typename OtherT> XMatrix(const OtherT *ptr) {
for (int j = 0; j < n; ++j)
for (int i = 0; i < m; ++i)
data[j][i] = *(ptr++);
}
const XMatrix<m, n> &operator=(const XMatrix<m, n> &a) {
memcpy(data, a.data, sizeof(*this));
return *this;
}
template <typename OtherT>
void SetCol(int j, const XMatrix<m, 1, OtherT> &c) {
for (int i = 0; i < m; ++i)
data[j][i] = c(i, 0);
}
template <typename OtherT>
void SetRow(int i, const XMatrix<1, n, OtherT> &r) {
for (int j = 0; j < m; ++j)
data[j][i] = r(0, j);
}
T &operator()(int row, int col) { return data[col][row]; }
const T &operator()(int row, int col) const { return data[col][row]; }
void SetIdentity() {
for (int i = 0; i < m; ++i) {
for (int j = 0; j < n; ++j) {
if (i == j)
data[i][j] = 1.0;
else
data[i][j] = 0.0;
}
}
}
// column major storage
T data[n][m];
};
template <int m, int n, typename T>
XMatrix<m, n, T> operator-(const XMatrix<m, n, T> &lhs,
const XMatrix<m, n, T> &rhs) {
XMatrix<m, n> d;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
d(i, j) = lhs(i, j) - rhs(i, j);
return d;
}
template <int m, int n, typename T>
XMatrix<m, n, T> operator+(const XMatrix<m, n, T> &lhs,
const XMatrix<m, n, T> &rhs) {
XMatrix<m, n> d;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
d(i, j) = lhs(i, j) + rhs(i, j);
return d;
}
template <int m, int n, int o, typename T>
XMatrix<m, o> Multiply(const XMatrix<m, n, T> &lhs,
const XMatrix<n, o, T> &rhs) {
XMatrix<m, o> ret;
for (int i = 0; i < m; ++i) {
for (int j = 0; j < o; ++j) {
T sum = 0.0f;
for (int k = 0; k < n; ++k) {
sum += lhs(i, k) * rhs(k, j);
}
ret(i, j) = sum;
}
}
return ret;
}
template <int m, int n> XMatrix<n, m> Transpose(const XMatrix<m, n> &a) {
XMatrix<n, m> ret;
for (int i = 0; i < m; ++i) {
for (int j = 0; j < n; ++j) {
ret(j, i) = a(i, j);
}
}
return ret;
}
// matrix to swap row i and j when multiplied on the right
template <int n> XMatrix<n, n> Permutation(int i, int j) {
XMatrix<n, n> m;
m.SetIdentity();
m(i, i) = 0.0;
m(i, j) = 1.0;
m(j, j) = 0.0;
m(j, i) = 1.0;
return m;
}
template <int m, int n> void PrintMatrix(const char *name, XMatrix<m, n> a) {
printf("%s = [\n", name);
for (int i = 0; i < m; ++i) {
printf("[ ");
for (int j = 0; j < n; ++j) {
printf("% .4f", float(a(i, j)));
if (j < n - 1)
printf(" ");
}
printf(" ]\n");
}
printf("]\n");
}
template <int n, typename T>
XMatrix<n, n, T> LU(const XMatrix<n, n, T> &m, XMatrix<n, n, T> &L) {
XMatrix<n, n> U = m;
L.SetIdentity();
// for each row
for (int j = 0; j < n; ++j) {
XMatrix<n, n> Li, LiInv;
Li.SetIdentity();
LiInv.SetIdentity();
T pivot = U(j, j);
if (pivot == 0.0)
return U;
assert(pivot != 0.0);
// zero our all entries below pivot
for (int i = j + 1; i < n; ++i) {
T l = -U(i, j) / pivot;
Li(i, j) = l;
// create inverse of L1..Ln as we go (this is L)
L(i, j) = -l;
}
U = Multiply(Li, U);
}
return U;
}
template <int m, typename T>
XMatrix<m, 1, T> Solve(const XMatrix<m, m, T> &L, const XMatrix<m, m, T> &U,
const XMatrix<m, 1, T> &b) {
XMatrix<m, 1> y;
XMatrix<m, 1> x;
// Ly = b (forward substitution)
for (int i = 0; i < m; ++i) {
T sum = 0.0;
for (int j = 0; j < i; ++j) {
sum += y(j, 0) * L(i, j);
}
assert(L(i, i) != 0.0);
y(i, 0) = (b(i, 0) - sum) / L(i, i);
}
// Ux = y (back substitution)
for (int i = m - 1; i >= 0; --i) {
T sum = 0.0;
for (int j = i + 1; j < m; ++j) {
sum += x(j, 0) * U(i, j);
}
assert(U(i, i) != 0.0);
x(i, 0) = (y(i, 0) - sum) / U(i, i);
}
return x;
}
template <int n, typename T>
T Determinant(const XMatrix<n, n, T> &A, XMatrix<n, n, T> &L,
XMatrix<n, n, T> &U) {
U = LU(A, L);
// determinant is the product of diagonal entries of U (assume L has 1s on
// diagonal)
T det = 1.0;
for (int i = 0; i < n; ++i)
det *= U(i, i);
return det;
}
template <int n, typename T>
XMatrix<n, n, T> Inverse(const XMatrix<n, n, T> &A, T &det) {
XMatrix<n, n> L, U;
det = Determinant(A, L, U);
XMatrix<n, n> Inv;
if (det != 0.0f) {
for (int i = 0; i < n; ++i) {
// solve for each column of the identity matrix
XMatrix<n, 1> I;
I(i, 0) = 1.0;
XMatrix<n, 1> x = Solve(L, U, I);
Inv.SetCol(i, x);
}
}
return Inv;
}
template <int m, int n, typename T> T FrobeniusNorm(const XMatrix<m, n, T> &A) {
T sum = 0.0;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
sum += A(i, j) * A(i, j);
return sqrt(sum);
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/vec4.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "vec3.h"
#include <cassert>
#if 0 // defined(_DEBUG) && defined(_WIN32)
#define VEC4_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
\
assert(_finite(z)); \
assert(!_isnan(z)); \
\
assert(_finite(w)); \
assert(!_isnan(w)); \
}
#else
#define VEC4_VALIDATE()
#endif
template <typename T> class XVector4 {
public:
typedef T value_type;
CUDA_CALLABLE XVector4() : x(0), y(0), z(0), w(0) {}
CUDA_CALLABLE XVector4(T a) : x(a), y(a), z(a), w(a) {}
CUDA_CALLABLE XVector4(const T *p) : x(p[0]), y(p[1]), z(p[2]), w(p[3]) {}
CUDA_CALLABLE XVector4(T x_, T y_, T z_, T w_ = 1.0f)
: x(x_), y(y_), z(z_), w(w_) {
VEC4_VALIDATE();
}
CUDA_CALLABLE XVector4(const Vec3 &v, float w)
: x(v.x), y(v.y), z(v.z), w(w) {}
CUDA_CALLABLE operator T *() { return &x; }
CUDA_CALLABLE operator const T *() const { return &x; };
CUDA_CALLABLE void Set(T x_, T y_, T z_, T w_) {
VEC4_VALIDATE();
x = x_;
y = y_;
z = z_;
w = w_;
}
CUDA_CALLABLE XVector4<T> operator*(T scale) const {
XVector4<T> r(*this);
r *= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator/(T scale) const {
XVector4<T> r(*this);
r /= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator+(const XVector4<T> &v) const {
XVector4<T> r(*this);
r += v;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator-(const XVector4<T> &v) const {
XVector4<T> r(*this);
r -= v;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator*(XVector4<T> scale) const {
XVector4<T> r(*this);
r *= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> &operator*=(T scale) {
x *= scale;
y *= scale;
z *= scale;
w *= scale;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T> &operator/=(T scale) {
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
w *= s;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T> &operator+=(const XVector4<T> &v) {
x += v.x;
y += v.y;
z += v.z;
w += v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T> &operator-=(const XVector4<T> &v) {
x -= v.x;
y -= v.y;
z -= v.z;
w -= v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T> &operator*=(const XVector4<T> &v) {
x *= v.x;
y *= v.y;
z *= v.z;
w *= v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE bool operator!=(const XVector4<T> &v) const {
return (x != v.x || y != v.y || z != v.z || w != v.w);
}
// negate
CUDA_CALLABLE XVector4<T> operator-() const {
VEC4_VALIDATE();
return XVector4<T>(-x, -y, -z, -w);
}
T x, y, z, w;
};
typedef XVector4<float> Vector4;
typedef XVector4<float> Vec4;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector4<T> operator*(T lhs, const XVector4<T> &rhs) {
XVector4<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector4<T> &lhs, const XVector4<T> &rhs) {
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z && lhs.w == rhs.w);
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/mat44.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "point3.h"
#include "vec4.h"
// stores column vectors in column major order
template <typename T> class XMatrix44 {
public:
CUDA_CALLABLE XMatrix44() { memset(columns, 0, sizeof(columns)); }
CUDA_CALLABLE XMatrix44(const T *d) {
assert(d);
memcpy(columns, d, sizeof(*this));
}
CUDA_CALLABLE XMatrix44(T c11, T c21, T c31, T c41, T c12, T c22, T c32,
T c42, T c13, T c23, T c33, T c43, T c14, T c24,
T c34, T c44) {
columns[0][0] = c11;
columns[0][1] = c21;
columns[0][2] = c31;
columns[0][3] = c41;
columns[1][0] = c12;
columns[1][1] = c22;
columns[1][2] = c32;
columns[1][3] = c42;
columns[2][0] = c13;
columns[2][1] = c23;
columns[2][2] = c33;
columns[2][3] = c43;
columns[3][0] = c14;
columns[3][1] = c24;
columns[3][2] = c34;
columns[3][3] = c44;
}
CUDA_CALLABLE XMatrix44(const Vec4 &c1, const Vec4 &c2, const Vec4 &c3,
const Vec4 &c4) {
columns[0][0] = c1.x;
columns[0][1] = c1.y;
columns[0][2] = c1.z;
columns[0][3] = c1.w;
columns[1][0] = c2.x;
columns[1][1] = c2.y;
columns[1][2] = c2.z;
columns[1][3] = c2.w;
columns[2][0] = c3.x;
columns[2][1] = c3.y;
columns[2][2] = c3.z;
columns[2][3] = c3.w;
columns[3][0] = c4.x;
columns[3][1] = c4.y;
columns[3][2] = c4.z;
columns[3][3] = c4.w;
}
CUDA_CALLABLE operator T *() { return &columns[0][0]; }
CUDA_CALLABLE operator const T *() const { return &columns[0][0]; }
// right multiply
CUDA_CALLABLE XMatrix44<T> operator*(const XMatrix44<T> &rhs) const {
XMatrix44<T> r;
MatrixMultiply(*this, rhs, r);
return r;
}
// right multiply
CUDA_CALLABLE XMatrix44<T> &operator*=(const XMatrix44<T> &rhs) {
XMatrix44<T> r;
MatrixMultiply(*this, rhs, r);
*this = r;
return *this;
}
CUDA_CALLABLE float operator()(int row, int col) const {
return columns[col][row];
}
CUDA_CALLABLE float &operator()(int row, int col) {
return columns[col][row];
}
// scalar multiplication
CUDA_CALLABLE XMatrix44<T> &operator*=(const T &s) {
for (int c = 0; c < 4; ++c) {
for (int r = 0; r < 4; ++r) {
columns[c][r] *= s;
}
}
return *this;
}
CUDA_CALLABLE void MatrixMultiply(const T *__restrict lhs,
const T *__restrict rhs,
T *__restrict result) const {
assert(lhs != rhs);
assert(lhs != result);
assert(rhs != result);
for (int i = 0; i < 4; ++i) {
for (int j = 0; j < 4; ++j) {
result[j * 4 + i] = rhs[j * 4 + 0] * lhs[i + 0];
result[j * 4 + i] += rhs[j * 4 + 1] * lhs[i + 4];
result[j * 4 + i] += rhs[j * 4 + 2] * lhs[i + 8];
result[j * 4 + i] += rhs[j * 4 + 3] * lhs[i + 12];
}
}
}
CUDA_CALLABLE void SetCol(int index, const Vec4 &c) {
columns[index][0] = c.x;
columns[index][1] = c.y;
columns[index][2] = c.z;
columns[index][3] = c.w;
}
// convenience overloads
CUDA_CALLABLE void SetAxis(uint32_t index, const XVector3<T> &a) {
columns[index][0] = a.x;
columns[index][1] = a.y;
columns[index][2] = a.z;
columns[index][3] = 0.0f;
}
CUDA_CALLABLE void SetTranslation(const Point3 &p) {
columns[3][0] = p.x;
columns[3][1] = p.y;
columns[3][2] = p.z;
columns[3][3] = 1.0f;
}
CUDA_CALLABLE const Vec3 &GetAxis(int i) const {
return *reinterpret_cast<const Vec3 *>(&columns[i]);
}
CUDA_CALLABLE const Vec4 &GetCol(int i) const {
return *reinterpret_cast<const Vec4 *>(&columns[i]);
}
CUDA_CALLABLE const Point3 &GetTranslation() const {
return *reinterpret_cast<const Point3 *>(&columns[3]);
}
CUDA_CALLABLE Vec4 GetRow(int i) const {
return Vec4(columns[0][i], columns[1][i], columns[2][i], columns[3][i]);
}
CUDA_CALLABLE static inline XMatrix44 Identity() {
const XMatrix44 sIdentity(
Vec4(1.0f, 0.0f, 0.0f, 0.0f), Vec4(0.0f, 1.0f, 0.0f, 0.0f),
Vec4(0.0f, 0.0f, 1.0f, 0.0f), Vec4(0.0f, 0.0f, 0.0f, 1.0f));
return sIdentity;
}
float columns[4][4];
};
// right multiply a point assumes w of 1
template <typename T>
CUDA_CALLABLE Point3 Multiply(const XMatrix44<T> &mat, const Point3 &v) {
Point3 r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8] + mat[12];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9] + mat[13];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10] + mat[14];
return r;
}
// right multiply a vector3 assumes a w of 0
template <typename T>
CUDA_CALLABLE XVector3<T> Multiply(const XMatrix44<T> &mat,
const XVector3<T> &v) {
XVector3<T> r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10];
return r;
}
// right multiply a vector4
template <typename T>
CUDA_CALLABLE XVector4<T> Multiply(const XMatrix44<T> &mat,
const XVector4<T> &v) {
XVector4<T> r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8] + v.w * mat[12];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9] + v.w * mat[13];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10] + v.w * mat[14];
r.w = v.x * mat[3] + v.y * mat[7] + v.z * mat[11] + v.w * mat[15];
return r;
}
template <typename T>
CUDA_CALLABLE Point3 operator*(const XMatrix44<T> &mat, const Point3 &v) {
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE XVector4<T> operator*(const XMatrix44<T> &mat,
const XVector4<T> &v) {
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE XVector3<T> operator*(const XMatrix44<T> &mat,
const XVector3<T> &v) {
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE inline XMatrix44<T> Transpose(const XMatrix44<T> &m) {
XMatrix44<float> inv;
// transpose
for (uint32_t c = 0; c < 4; ++c) {
for (uint32_t r = 0; r < 4; ++r) {
inv.columns[c][r] = m.columns[r][c];
}
}
return inv;
}
template <typename T>
CUDA_CALLABLE XMatrix44<T> AffineInverse(const XMatrix44<T> &m) {
XMatrix44<T> inv;
// transpose upper 3x3
for (int c = 0; c < 3; ++c) {
for (int r = 0; r < 3; ++r) {
inv.columns[c][r] = m.columns[r][c];
}
}
// multiply -translation by upper 3x3 transpose
inv.columns[3][0] = -Dot3(m.columns[3], m.columns[0]);
inv.columns[3][1] = -Dot3(m.columns[3], m.columns[1]);
inv.columns[3][2] = -Dot3(m.columns[3], m.columns[2]);
inv.columns[3][3] = 1.0f;
return inv;
}
CUDA_CALLABLE inline XMatrix44<float> Outer(const Vec4 &a, const Vec4 &b) {
return XMatrix44<float>(a * b.x, a * b.y, a * b.z, a * b.w);
}
// convenience
typedef XMatrix44<float> Mat44;
typedef XMatrix44<float> Matrix44;
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/maths.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "core.h"
#include "mat22.h"
#include "mat33.h"
#include "mat44.h"
#include "matnn.h"
#include "point3.h"
#include "quat.h"
#include "types.h"
#include "vec2.h"
#include "vec3.h"
#include "vec4.h"
#include <cassert>
#include <cmath>
#include <cstdlib>
#include <float.h>
#include <string.h>
struct Transform {
// transform
CUDA_CALLABLE Transform() : p(0.0) {}
CUDA_CALLABLE Transform(const Vec3 &v, const Quat &q = Quat()) : p(v), q(q) {}
CUDA_CALLABLE Transform operator*(const Transform &rhs) const {
return Transform(Rotate(q, rhs.p) + p, q * rhs.q);
}
Vec3 p;
Quat q;
};
CUDA_CALLABLE inline Transform Inverse(const Transform &transform) {
Transform t;
t.q = Inverse(transform.q);
t.p = -Rotate(t.q, transform.p);
return t;
}
CUDA_CALLABLE inline Vec3 TransformVector(const Transform &t, const Vec3 &v) {
return t.q * v;
}
CUDA_CALLABLE inline Vec3 TransformPoint(const Transform &t, const Vec3 &v) {
return t.q * v + t.p;
}
CUDA_CALLABLE inline Vec3 InverseTransformVector(const Transform &t,
const Vec3 &v) {
return Inverse(t.q) * v;
}
CUDA_CALLABLE inline Vec3 InverseTransformPoint(const Transform &t,
const Vec3 &v) {
return Inverse(t.q) * (v - t.p);
}
// represents a plane in the form ax + by + cz - d = 0
class Plane : public Vec4 {
public:
CUDA_CALLABLE inline Plane() {}
CUDA_CALLABLE inline Plane(float x, float y, float z, float w)
: Vec4(x, y, z, w) {}
CUDA_CALLABLE inline Plane(const Vec3 &p, const Vector3 &n) {
x = n.x;
y = n.y;
z = n.z;
w = -Dot3(p, n);
}
CUDA_CALLABLE inline Vec3 GetNormal() const { return Vec3(x, y, z); }
CUDA_CALLABLE inline Vec3 GetPoint() const {
return Vec3(x * -w, y * -w, z * -w);
}
CUDA_CALLABLE inline Plane(const Vec3 &v) : Vec4(v.x, v.y, v.z, 1.0f) {}
CUDA_CALLABLE inline Plane(const Vec4 &v) : Vec4(v) {}
};
template <typename T>
CUDA_CALLABLE inline T Dot(const XVector4<T> &v1, const XVector4<T> &v2) {
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
}
// helper function that assumes a w of 0
CUDA_CALLABLE inline float Dot(const Plane &p, const Vector3 &v) {
return p.x * v.x + p.y * v.y + p.z * v.z;
}
CUDA_CALLABLE inline float Dot(const Vector3 &v, const Plane &p) {
return Dot(p, v);
}
// helper function that assumes a w of 1
CUDA_CALLABLE inline float Dot(const Plane &p, const Point3 &v) {
return p.x * v.x + p.y * v.y + p.z * v.z + p.w;
}
// ensures that the normal component of the plane is unit magnitude
CUDA_CALLABLE inline Vec4 NormalizePlane(const Vec4 &p) {
float l = Length(Vec3(p));
return (1.0f / l) * p;
}
//----------------------------------------------------------------------------
inline float RandomUnit() {
float r = (float)rand();
r /= RAND_MAX;
return r;
}
// Random number in range [-1,1]
inline float RandomSignedUnit() {
float r = (float)rand();
r /= RAND_MAX;
r = 2.0f * r - 1.0f;
return r;
}
inline float Random(float lo, float hi) {
float r = (float)rand();
r /= RAND_MAX;
r = (hi - lo) * r + lo;
return r;
}
inline void RandInit(uint32_t seed = 315645664) {
std::srand(static_cast<unsigned>(seed));
}
// random number generator
inline uint32_t Rand() { return static_cast<uint32_t>(std::rand()); }
// returns a random number in the range [min, max)
inline uint32_t Rand(uint32_t min, uint32_t max) {
return min + Rand() % (max - min);
}
// returns random number between 0-1
inline float Randf() {
uint32_t value = Rand();
uint32_t limit = 0xffffffff;
return (float)value * (1.0f / (float)limit);
}
// returns random number between min and max
inline float Randf(float min, float max) {
// return Lerp(min, max, ParticleRandf());
float t = Randf();
return (1.0f - t) * min + t * (max);
}
// returns random number between 0-max
inline float Randf(float max) { return Randf() * max; }
// returns a random unit vector (also can add an offset to generate around an
// off axis vector)
inline Vec3 RandomUnitVector() {
float phi = Randf(kPi * 2.0f);
float theta = Randf(kPi * 2.0f);
float cosTheta = Cos(theta);
float sinTheta = Sin(theta);
float cosPhi = Cos(phi);
float sinPhi = Sin(phi);
return Vec3(cosTheta * sinPhi, cosPhi, sinTheta * sinPhi);
}
inline Vec3 RandVec3() {
return Vec3(Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f));
}
// uniformly sample volume of a sphere using dart throwing
inline Vec3 UniformSampleSphereVolume() {
for (;;) {
Vec3 v = RandVec3();
if (Dot(v, v) < 1.0f)
return v;
}
}
inline Vec3 UniformSampleSphere() {
float u1 = Randf(0.0f, 1.0f);
float u2 = Randf(0.0f, 1.0f);
float z = 1.f - 2.f * u1;
float r = sqrtf(Max(0.f, 1.f - z * z));
float phi = 2.f * kPi * u2;
float x = r * cosf(phi);
float y = r * sinf(phi);
return Vector3(x, y, z);
}
inline Vec3 UniformSampleHemisphere() {
// generate a random z value
float z = Randf(0.0f, 1.0f);
float w = Sqrt(1.0f - z * z);
float phi = k2Pi * Randf(0.0f, 1.0f);
float x = Cos(phi) * w;
float y = Sin(phi) * w;
return Vec3(x, y, z);
}
inline Vec2 UniformSampleDisc() {
float r = Sqrt(Randf(0.0f, 1.0f));
float theta = k2Pi * Randf(0.0f, 1.0f);
return Vec2(r * Cos(theta), r * Sin(theta));
}
inline void UniformSampleTriangle(float &u, float &v) {
float r = Sqrt(Randf());
u = 1.0f - r;
v = Randf() * r;
}
inline Vec3 CosineSampleHemisphere() {
Vec2 s = UniformSampleDisc();
float z = Sqrt(Max(0.0f, 1.0f - s.x * s.x - s.y * s.y));
return Vec3(s.x, s.y, z);
}
inline Vec3 SphericalToXYZ(float theta, float phi) {
float cosTheta = cos(theta);
float sinTheta = sin(theta);
return Vec3(sin(phi) * sinTheta, cosTheta, cos(phi) * sinTheta);
}
// returns random vector between -range and range
inline Vec4 Randf(const Vec4 &range) {
return Vec4(Randf(-range.x, range.x), Randf(-range.y, range.y),
Randf(-range.z, range.z), Randf(-range.w, range.w));
}
// generates a transform matrix with v as the z axis, taken from PBRT
CUDA_CALLABLE inline void BasisFromVector(const Vec3 &w, Vec3 *u, Vec3 *v) {
if (fabsf(w.x) > fabsf(w.y)) {
float invLen = 1.0f / sqrtf(w.x * w.x + w.z * w.z);
*u = Vec3(-w.z * invLen, 0.0f, w.x * invLen);
} else {
float invLen = 1.0f / sqrtf(w.y * w.y + w.z * w.z);
*u = Vec3(0.0f, w.z * invLen, -w.y * invLen);
}
*v = Cross(w, *u);
// assert(fabsf(Length(*u)-1.0f) < 0.01f);
// assert(fabsf(Length(*v)-1.0f) < 0.01f);
}
// same as above but returns a matrix
inline Mat44 TransformFromVector(const Vec3 &w,
const Point3 &t = Point3(0.0f, 0.0f, 0.0f)) {
Mat44 m = Mat44::Identity();
m.SetCol(2, Vec4(w.x, w.y, w.z, 0.0));
m.SetCol(3, Vec4(t.x, t.y, t.z, 1.0f));
BasisFromVector(w, (Vec3 *)m.columns[0], (Vec3 *)m.columns[1]);
return m;
}
// todo: sort out rotations
inline Mat44 ViewMatrix(const Point3 &pos) {
float view[4][4] = {{1.0f, 0.0f, 0.0f, 0.0f},
{0.0f, 1.0f, 0.0f, 0.0f},
{0.0f, 0.0f, 1.0f, 0.0f},
{-pos.x, -pos.y, -pos.z, 1.0f}};
return Mat44(&view[0][0]);
}
inline Mat44 LookAtMatrix(const Point3 &viewer, const Point3 &target) {
// create a basis from viewer to target (OpenGL convention looking down -z)
Vec3 forward = -Normalize(target - viewer);
Vec3 up(0.0f, 1.0f, 0.0f);
Vec3 left = Normalize(Cross(up, forward));
up = Cross(forward, left);
float xform[4][4] = {{left.x, left.y, left.z, 0.0f},
{up.x, up.y, up.z, 0.0f},
{forward.x, forward.y, forward.z, 0.0f},
{viewer.x, viewer.y, viewer.z, 1.0f}};
return AffineInverse(Mat44(&xform[0][0]));
}
// generate a rotation matrix around an axis, from PBRT p74
inline Mat44 RotationMatrix(float angle, const Vec3 &axis) {
Vec3 a = Normalize(axis);
float s = sinf(angle);
float c = cosf(angle);
float m[4][4];
m[0][0] = a.x * a.x + (1.0f - a.x * a.x) * c;
m[0][1] = a.x * a.y * (1.0f - c) + a.z * s;
m[0][2] = a.x * a.z * (1.0f - c) - a.y * s;
m[0][3] = 0.0f;
m[1][0] = a.x * a.y * (1.0f - c) - a.z * s;
m[1][1] = a.y * a.y + (1.0f - a.y * a.y) * c;
m[1][2] = a.y * a.z * (1.0f - c) + a.x * s;
m[1][3] = 0.0f;
m[2][0] = a.x * a.z * (1.0f - c) + a.y * s;
m[2][1] = a.y * a.z * (1.0f - c) - a.x * s;
m[2][2] = a.z * a.z + (1.0f - a.z * a.z) * c;
m[2][3] = 0.0f;
m[3][0] = 0.0f;
m[3][1] = 0.0f;
m[3][2] = 0.0f;
m[3][3] = 1.0f;
return Mat44(&m[0][0]);
}
inline Mat44 RotationMatrix(const Quat &q) {
Matrix33 rotation(q);
Matrix44 m;
m.SetAxis(0, rotation.cols[0]);
m.SetAxis(1, rotation.cols[1]);
m.SetAxis(2, rotation.cols[2]);
m.SetTranslation(Point3(0.0f));
return m;
}
inline Mat44 TranslationMatrix(const Point3 &t) {
Mat44 m(Mat44::Identity());
m.SetTranslation(t);
return m;
}
inline Mat44 TransformMatrix(const Transform &t) {
return TranslationMatrix(Point3(t.p)) * RotationMatrix(t.q);
}
inline Mat44 OrthographicMatrix(float left, float right, float bottom,
float top, float n, float f) {
float m[4][4] = {{2.0f / (right - left), 0.0f, 0.0f, 0.0f},
{0.0f, 2.0f / (top - bottom), 0.0f, 0.0f},
{0.0f, 0.0f, -2.0f / (f - n), 0.0f},
{-(right + left) / (right - left),
-(top + bottom) / (top - bottom), -(f + n) / (f - n),
1.0f}};
return Mat44(&m[0][0]);
}
// this is designed as a drop in replacement for gluPerspective
inline Mat44 ProjectionMatrix(float fov, float aspect, float znear,
float zfar) {
float f = 1.0f / tanf(DegToRad(fov * 0.5f));
float zd = znear - zfar;
float view[4][4] = {{f / aspect, 0.0f, 0.0f, 0.0f},
{0.0f, f, 0.0f, 0.0f},
{0.0f, 0.0f, (zfar + znear) / zd, -1.0f},
{0.0f, 0.0f, (2.0f * znear * zfar) / zd, 0.0f}};
return Mat44(&view[0][0]);
}
// encapsulates an orientation encoded in Euler angles, not the sexiest
// representation but it is convenient when manipulating objects from script
class Rotation {
public:
Rotation() : yaw(0), pitch(0), roll(0) {}
Rotation(float inYaw, float inPitch, float inRoll)
: yaw(inYaw), pitch(inPitch), roll(inRoll) {}
Rotation &operator+=(const Rotation &rhs) {
yaw += rhs.yaw;
pitch += rhs.pitch;
roll += rhs.roll;
return *this;
}
Rotation &operator-=(const Rotation &rhs) {
yaw -= rhs.yaw;
pitch -= rhs.pitch;
roll -= rhs.roll;
return *this;
}
Rotation operator+(const Rotation &rhs) const {
Rotation lhs(*this);
lhs += rhs;
return lhs;
}
Rotation operator-(const Rotation &rhs) const {
Rotation lhs(*this);
lhs -= rhs;
return lhs;
}
// all members are in degrees (easy editing)
float yaw;
float pitch;
float roll;
};
inline Mat44 ScaleMatrix(const Vector3 &s) {
float m[4][4] = {{s.x, 0.0f, 0.0f, 0.0f},
{0.0f, s.y, 0.0f, 0.0f},
{0.0f, 0.0f, s.z, 0.0f},
{0.0f, 0.0f, 0.0f, 1.0f}};
return Mat44(&m[0][0]);
}
// assumes yaw on y, then pitch on z, then roll on x
inline Mat44 TransformMatrix(const Rotation &r, const Point3 &p) {
const float yaw = DegToRad(r.yaw);
const float pitch = DegToRad(r.pitch);
const float roll = DegToRad(r.roll);
const float s1 = Sin(roll);
const float c1 = Cos(roll);
const float s2 = Sin(pitch);
const float c2 = Cos(pitch);
const float s3 = Sin(yaw);
const float c3 = Cos(yaw);
// interprets the angles as yaw around world-y, pitch around new z, roll
// around new x
float mr[4][4] = {
{c2 * c3, s2, -c2 * s3, 0.0f},
{s1 * s3 - c1 * c3 * s2, c1 * c2, c3 * s1 + c1 * s2 * s3, 0.0f},
{c3 * s1 * s2 + c1 * s3, -c2 * s1, c1 * c3 - s1 * s2 * s3, 0.0f},
{p.x, p.y, p.z, 1.0f}};
Mat44 m1(&mr[0][0]);
return m1; // m2 * m1;
}
// aligns the z axis along the vector
inline Rotation AlignToVector(const Vec3 &vector) {
// todo: fix, see spherical->cartesian coordinates wikipedia
return Rotation(0.0f, RadToDeg(atan2(vector.y, vector.x)), 0.0f);
}
// creates a vector given an angle measured clockwise from horizontal (1,0)
inline Vec2 AngleToVector(float a) { return Vec2(Cos(a), Sin(a)); }
inline float VectorToAngle(const Vec2 &v) { return atan2f(v.y, v.x); }
CUDA_CALLABLE inline float SmoothStep(float a, float b, float t) {
t = Clamp(t - a / (b - a), 0.0f, 1.0f);
return t * t * (3.0f - 2.0f * t);
}
// hermite spline interpolation
template <typename T>
T HermiteInterpolate(const T &a, const T &b, const T &t1, const T &t2,
float t) {
// blending weights
const float w1 = 1.0f - 3 * t * t + 2 * t * t * t;
const float w2 = t * t * (3.0f - 2.0f * t);
const float w3 = t * t * t - 2 * t * t + t;
const float w4 = t * t * (t - 1.0f);
// return weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
template <typename T>
T HermiteTangent(const T &a, const T &b, const T &t1, const T &t2, float t) {
// first derivative blend weights
const float w1 = 6.0f * t * t - 6 * t;
const float w2 = -6.0f * t * t + 6 * t;
const float w3 = 3 * t * t - 4 * t + 1;
const float w4 = 3 * t * t - 2 * t;
// weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
template <typename T>
T HermiteSecondDerivative(const T &a, const T &b, const T &t1, const T &t2,
float t) {
// first derivative blend weights
const float w1 = 12 * t - 6.0f;
const float w2 = -12.0f * t + 6;
const float w3 = 6 * t - 4.0f;
const float w4 = 6 * t - 2.0f;
// weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
inline float Log(float base, float x) {
// calculate the log of a value for an arbitary base, only use if you can't
// use the standard bases (10, e)
return logf(x) / logf(base);
}
inline int Log2(int x) {
int n = 0;
while (x >= 2) {
++n;
x /= 2;
}
return n;
}
// function which maps a value to a range
template <typename T> T RangeMap(T value, T lower, T upper) {
assert(upper >= lower);
return (value - lower) / (upper - lower);
}
// simple colour class
class Colour {
public:
enum Preset { kRed, kGreen, kBlue, kWhite, kBlack };
Colour(float r_ = 0.0f, float g_ = 0.0f, float b_ = 0.0f, float a_ = 1.0f)
: r(r_), g(g_), b(b_), a(a_) {}
Colour(float *p) : r(p[0]), g(p[1]), b(p[2]), a(p[3]) {}
Colour(uint32_t rgba) {
a = ((rgba)&0xff) / 255.0f;
r = ((rgba >> 24) & 0xff) / 255.0f;
g = ((rgba >> 16) & 0xff) / 255.0f;
b = ((rgba >> 8) & 0xff) / 255.0f;
}
Colour(Preset p) {
switch (p) {
case kRed:
*this = Colour(1.0f, 0.0f, 0.0f);
break;
case kGreen:
*this = Colour(0.0f, 1.0f, 0.0f);
break;
case kBlue:
*this = Colour(0.0f, 0.0f, 1.0f);
break;
case kWhite:
*this = Colour(1.0f, 1.0f, 1.0f);
break;
case kBlack:
*this = Colour(0.0f, 0.0f, 0.0f);
break;
};
}
// cast operator
operator const float *() const { return &r; }
operator float *() { return &r; }
Colour operator*(float scale) const {
Colour r(*this);
r *= scale;
return r;
}
Colour operator/(float scale) const {
Colour r(*this);
r /= scale;
return r;
}
Colour operator+(const Colour &v) const {
Colour r(*this);
r += v;
return r;
}
Colour operator-(const Colour &v) const {
Colour r(*this);
r -= v;
return r;
}
Colour operator*(const Colour &scale) const {
Colour r(*this);
r *= scale;
return r;
}
Colour &operator*=(float scale) {
r *= scale;
g *= scale;
b *= scale;
a *= scale;
return *this;
}
Colour &operator/=(float scale) {
float s(1.0f / scale);
r *= s;
g *= s;
b *= s;
a *= s;
return *this;
}
Colour &operator+=(const Colour &v) {
r += v.r;
g += v.g;
b += v.b;
a += v.a;
return *this;
}
Colour &operator-=(const Colour &v) {
r -= v.r;
g -= v.g;
b -= v.b;
a -= v.a;
return *this;
}
Colour &operator*=(const Colour &v) {
r *= v.r;
g *= v.g;
b *= v.b;
a *= v.a;
return *this;
}
float r, g, b, a;
};
inline bool operator==(const Colour &lhs, const Colour &rhs) {
return lhs.r == rhs.r && lhs.g == rhs.g && lhs.b == rhs.b && lhs.a == rhs.a;
}
inline bool operator!=(const Colour &lhs, const Colour &rhs) {
return !(lhs == rhs);
}
inline Colour ToneMap(const Colour &s) {
// return Colour(s.r / (s.r+1.0f), s.g / (s.g+1.0f), s.b /
// (s.b+1.0f), 1.0f);
float Y = 0.3333f * (s.r + s.g + s.b);
return s / (1.0f + Y);
}
// lhs scalar scale
inline Colour operator*(float lhs, const Colour &rhs) {
Colour r(rhs);
r *= lhs;
return r;
}
inline Colour YxyToXYZ(float Y, float x, float y) {
float X = x * (Y / y);
float Z = (1.0f - x - y) * Y / y;
return Colour(X, Y, Z, 1.0f);
}
inline Colour HSVToRGB(float h, float s, float v) {
float r, g, b;
int i;
float f, p, q, t;
if (s == 0) {
// achromatic (grey)
r = g = b = v;
} else {
h *= 6.0f; // sector 0 to 5
i = int(floor(h));
f = h - i; // factorial part of h
p = v * (1 - s);
q = v * (1 - s * f);
t = v * (1 - s * (1 - f));
switch (i) {
case 0:
r = v;
g = t;
b = p;
break;
case 1:
r = q;
g = v;
b = p;
break;
case 2:
r = p;
g = v;
b = t;
break;
case 3:
r = p;
g = q;
b = v;
break;
case 4:
r = t;
g = p;
b = v;
break;
default: // case 5:
r = v;
g = p;
b = q;
break;
};
}
return Colour(r, g, b);
}
inline Colour XYZToLinear(float x, float y, float z) {
float c[4];
c[0] = 3.240479f * x + -1.537150f * y + -0.498535f * z;
c[1] = -0.969256f * x + 1.875991f * y + 0.041556f * z;
c[2] = 0.055648f * x + -0.204043f * y + 1.057311f * z;
c[3] = 1.0f;
return Colour(c);
}
inline uint32_t ColourToRGBA8(const Colour &c) {
union SmallColor {
uint8_t u8[4];
uint32_t u32;
};
SmallColor s;
s.u8[0] = (uint8_t)(Clamp(c.r, 0.0f, 1.0f) * 255);
s.u8[1] = (uint8_t)(Clamp(c.g, 0.0f, 1.0f) * 255);
s.u8[2] = (uint8_t)(Clamp(c.b, 0.0f, 1.0f) * 255);
s.u8[3] = (uint8_t)(Clamp(c.a, 0.0f, 1.0f) * 255);
return s.u32;
}
inline Colour LinearToSrgb(const Colour &c) {
const float kInvGamma = 1.0f / 2.2f;
return Colour(powf(c.r, kInvGamma), powf(c.g, kInvGamma),
powf(c.b, kInvGamma), c.a);
}
inline Colour SrgbToLinear(const Colour &c) {
const float kInvGamma = 2.2f;
return Colour(powf(c.r, kInvGamma), powf(c.g, kInvGamma),
powf(c.b, kInvGamma), c.a);
}
inline float SpecularRoughnessToExponent(float roughness,
float maxExponent = 2048.0f) {
return powf(maxExponent, 1.0f - roughness);
}
inline float SpecularExponentToRoughness(float exponent,
float maxExponent = 2048.0f) {
if (exponent <= 1.0f)
return 1.0f;
else
return 1.0f - logf(exponent) / logf(maxExponent);
}
inline Colour JetColorMap(float low, float high, float x) {
float t = (x - low) / (high - low);
return HSVToRGB(t, 1.0f, 1.0f);
}
inline Colour BourkeColorMap(float low, float high, float v) {
Colour c(1.0f, 1.0f, 1.0f); // white
float dv;
if (v < low)
v = low;
if (v > high)
v = high;
dv = high - low;
if (v < (low + 0.25f * dv)) {
c.r = 0.f;
c.g = 4.f * (v - low) / dv;
} else if (v < (low + 0.5f * dv)) {
c.r = 0.f;
c.b = 1.f + 4.f * (low + 0.25f * dv - v) / dv;
} else if (v < (low + 0.75f * dv)) {
c.r = 4.f * (v - low - 0.5f * dv) / dv;
c.b = 0.f;
} else {
c.g = 1.f + 4.f * (low + 0.75f * dv - v) / dv;
c.b = 0.f;
}
return (c);
}
// intersection routines
inline bool IntersectRaySphere(const Point3 &sphereOrigin, float sphereRadius,
const Point3 &rayOrigin, const Vec3 &rayDir,
float &t, Vec3 *hitNormal = nullptr) {
Vec3 d(sphereOrigin - rayOrigin);
float deltaSq = LengthSq(d);
float radiusSq = sphereRadius * sphereRadius;
// if the origin is inside the sphere return no intersection
if (deltaSq > radiusSq) {
float dprojr = Dot(d, rayDir);
// if ray pointing away from sphere no intersection
if (dprojr < 0.0f)
return false;
// bit of Pythagoras to get closest point on ray
float dSq = deltaSq - dprojr * dprojr;
if (dSq > radiusSq)
return false;
else {
// length of the half cord
float thc = sqrt(radiusSq - dSq);
// closest intersection
t = dprojr - thc;
// calculate normal if requested
if (hitNormal)
*hitNormal = Normalize((rayOrigin + rayDir * t) - sphereOrigin);
return true;
}
} else {
return false;
}
}
template <typename T>
CUDA_CALLABLE inline bool SolveQuadratic(T a, T b, T c, T &minT, T &maxT) {
if (a == 0.0f && b == 0.0f) {
minT = maxT = 0.0f;
return true;
}
T discriminant = b * b - T(4.0) * a * c;
if (discriminant < 0.0f) {
return false;
}
// numerical receipes 5.6 (this method ensures numerical accuracy is
// preserved)
T t = T(-0.5) * (b + Sign(b) * Sqrt(discriminant));
minT = t / a;
maxT = c / t;
if (minT > maxT) {
Swap(minT, maxT);
}
return true;
}
// alternative ray sphere intersect, returns closest and furthest t values
inline bool IntersectRaySphere(const Point3 &sphereOrigin, float sphereRadius,
const Point3 &rayOrigin, const Vector3 &rayDir,
float &minT, float &maxT,
Vec3 *hitNormal = nullptr) {
Vector3 q = rayOrigin - sphereOrigin;
float a = 1.0f;
float b = 2.0f * Dot(q, rayDir);
float c = Dot(q, q) - (sphereRadius * sphereRadius);
bool r = SolveQuadratic(a, b, c, minT, maxT);
if (minT < 0.0)
minT = 0.0f;
// calculate the normal of the closest hit
if (hitNormal && r) {
*hitNormal = Normalize((rayOrigin + rayDir * minT) - sphereOrigin);
}
return r;
}
CUDA_CALLABLE inline bool IntersectRayPlane(const Point3 &p, const Vector3 &dir,
const Plane &plane, float &t) {
float d = Dot(plane, dir);
if (d == 0.0f) {
return false;
} else {
t = -Dot(plane, p) / d;
}
return (t > 0.0f);
}
CUDA_CALLABLE inline bool IntersectLineSegmentPlane(const Vec3 &start,
const Vec3 &end,
const Plane &plane,
Vec3 &out) {
Vec3 u(end - start);
float dist = -Dot(plane, start) / Dot(plane, u);
if (dist > 0.0f && dist < 1.0f) {
out = (start + u * dist);
return true;
} else
return false;
}
// Moller and Trumbore's method
CUDA_CALLABLE inline bool
IntersectRayTriTwoSided(const Vec3 &p, const Vec3 &dir, const Vec3 &a,
const Vec3 &b, const Vec3 &c, float &t, float &u,
float &v, float &w, float &sign, Vec3 *normal) {
Vector3 ab = b - a;
Vector3 ac = c - a;
Vector3 n = Cross(ab, ac);
float d = Dot(-dir, n);
float ood = 1.0f / d; // No need to check for division by zero here as
// infinity aritmetic will save us...
Vector3 ap = p - a;
t = Dot(ap, n) * ood;
if (t < 0.0f)
return false;
Vector3 e = Cross(-dir, ap);
v = Dot(ac, e) * ood;
if (v < 0.0f || v > 1.0f) // ...here...
return false;
w = -Dot(ab, e) * ood;
if (w < 0.0f || v + w > 1.0f) // ...and here
return false;
u = 1.0f - v - w;
if (normal)
*normal = n;
sign = d;
return true;
}
// mostly taken from Real Time Collision Detection - p192
inline bool IntersectRayTri(const Point3 &p, const Vec3 &dir, const Point3 &a,
const Point3 &b, const Point3 &c, float &t,
float &u, float &v, float &w, Vec3 *normal) {
const Vec3 ab = b - a;
const Vec3 ac = c - a;
// calculate normal
Vec3 n = Cross(ab, ac);
// need to solve a system of three equations to give t, u, v
float d = Dot(-dir, n);
// if dir is parallel to triangle plane or points away from triangle
if (d <= 0.0f)
return false;
Vec3 ap = p - a;
t = Dot(ap, n);
// ignores tris behind
if (t < 0.0f)
return false;
// compute barycentric coordinates
Vec3 e = Cross(-dir, ap);
v = Dot(ac, e);
if (v < 0.0f || v > d)
return false;
w = -Dot(ab, e);
if (w < 0.0f || v + w > d)
return false;
float ood = 1.0f / d;
t *= ood;
v *= ood;
w *= ood;
u = 1.0f - v - w;
// optionally write out normal (todo: this branch is a performance concern,
// should probably remove)
if (normal)
*normal = n;
return true;
}
// mostly taken from Real Time Collision Detection - p192
CUDA_CALLABLE inline bool IntersectSegmentTri(const Vec3 &p, const Vec3 &q,
const Vec3 &a, const Vec3 &b,
const Vec3 &c, float &t, float &u,
float &v, float &w,
Vec3 *normal) {
const Vec3 ab = b - a;
const Vec3 ac = c - a;
const Vec3 qp = p - q;
// calculate normal
Vec3 n = Cross(ab, ac);
// need to solve a system of three equations to give t, u, v
float d = Dot(qp, n);
// if dir is parallel to triangle plane or points away from triangle
// if (d <= 0.0f)
// return false;
Vec3 ap = p - a;
t = Dot(ap, n);
// ignores tris behind
if (t < 0.0f)
return false;
// ignores tris beyond segment
if (t > d)
return false;
// compute barycentric coordinates
Vec3 e = Cross(qp, ap);
v = Dot(ac, e);
if (v < 0.0f || v > d)
return false;
w = -Dot(ab, e);
if (w < 0.0f || v + w > d)
return false;
float ood = 1.0f / d;
t *= ood;
v *= ood;
w *= ood;
u = 1.0f - v - w;
// optionally write out normal (todo: this branch is a performance concern,
// should probably remove)
if (normal)
*normal = n;
return true;
}
CUDA_CALLABLE inline float ScalarTriple(const Vec3 &a, const Vec3 &b,
const Vec3 &c) {
return Dot(Cross(a, b), c);
}
// intersects a line (through points p and q, against a triangle a, b, c -
// mostly taken from Real Time Collision Detection - p186
CUDA_CALLABLE inline bool
IntersectLineTri(const Vec3 &p, const Vec3 &q, const Vec3 &a, const Vec3 &b,
const Vec3 &c) //, float& t, float& u, float& v, float&
// w, Vec3* normal, float expand)
{
const Vec3 pq = q - p;
const Vec3 pa = a - p;
const Vec3 pb = b - p;
const Vec3 pc = c - p;
Vec3 m = Cross(pq, pc);
float u = Dot(pb, m);
if (u < 0.0f)
return false;
float v = -Dot(pa, m);
if (v < 0.0f)
return false;
float w = ScalarTriple(pq, pb, pa);
if (w < 0.0f)
return false;
return true;
}
CUDA_CALLABLE inline Vec3 ClosestPointToAABB(const Vec3 &p, const Vec3 &lower,
const Vec3 &upper) {
Vec3 c;
for (int i = 0; i < 3; ++i) {
float v = p[i];
if (v < lower[i])
v = lower[i];
if (v > upper[i])
v = upper[i];
c[i] = v;
}
return c;
}
// RTCD 5.1.5, page 142
CUDA_CALLABLE inline Vec3 ClosestPointOnTriangle(const Vec3 &a, const Vec3 &b,
const Vec3 &c, const Vec3 &p,
float &v, float &w) {
Vec3 ab = b - a;
Vec3 ac = c - a;
Vec3 ap = p - a;
float d1 = Dot(ab, ap);
float d2 = Dot(ac, ap);
if (d1 <= 0.0f && d2 <= 0.0f) {
v = 0.0f;
w = 0.0f;
return a;
}
Vec3 bp = p - b;
float d3 = Dot(ab, bp);
float d4 = Dot(ac, bp);
if (d3 >= 0.0f && d4 <= d3) {
v = 1.0f;
w = 0.0f;
return b;
}
float vc = d1 * d4 - d3 * d2;
if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) {
v = d1 / (d1 - d3);
w = 0.0f;
return a + v * ab;
}
Vec3 cp = p - c;
float d5 = Dot(ab, cp);
float d6 = Dot(ac, cp);
if (d6 >= 0.0f && d5 <= d6) {
v = 0.0f;
w = 1.0f;
return c;
}
float vb = d5 * d2 - d1 * d6;
if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) {
v = 0.0f;
w = d2 / (d2 - d6);
return a + w * ac;
}
float va = d3 * d6 - d5 * d4;
if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) {
w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
v = 1.0f - w;
return b + w * (c - b);
}
float denom = 1.0f / (va + vb + vc);
v = vb * denom;
w = vc * denom;
return a + ab * v + ac * w;
}
CUDA_CALLABLE inline Vec3
ClosestPointOnFatTriangle(const Vec3 &a, const Vec3 &b, const Vec3 &c,
const Vec3 &p, const float thickness, float &v,
float &w) {
const Vec3 x = ClosestPointOnTriangle(a, b, c, p, v, w);
const Vec3 d = SafeNormalize(p - x);
// apply thickness along delta dir
return x + d * thickness;
}
// computes intersection between a ray and a triangle expanded by a constant
// thickness, also works for ray-sphere and ray-capsule this is an iterative
// method similar to sphere tracing but for convex objects, see
// http://dtecta.com/papers/jgt04raycast.pdf
CUDA_CALLABLE inline bool
IntersectRayFatTriangle(const Vec3 &p, const Vec3 &dir, const Vec3 &a,
const Vec3 &b, const Vec3 &c, float thickness,
float threshold, float maxT, float &t, float &u,
float &v, float &w, Vec3 *normal) {
t = 0.0f;
Vec3 x = p;
Vec3 n;
float distSq;
const float thresholdSq = threshold * threshold;
const int maxIterations = 20;
for (int i = 0; i < maxIterations; ++i) {
const Vec3 closestPoint =
ClosestPointOnFatTriangle(a, b, c, x, thickness, v, w);
n = x - closestPoint;
distSq = LengthSq(n);
// early out
if (distSq <= thresholdSq)
break;
float ndir = Dot(n, dir);
// we've gone past the convex
if (ndir >= 0.0f)
return false;
// we've exceeded max ray length
if (t > maxT)
return false;
t = t - distSq / ndir;
x = p + t * dir;
}
// calculate normal based on unexpanded geometry to avoid precision issues
Vec3 cp = ClosestPointOnTriangle(a, b, c, x, v, w);
n = x - cp;
// if n faces away due to numerical issues flip it to face ray dir
if (Dot(n, dir) > 0.0f)
n *= -1.0f;
u = 1.0f - v - w;
*normal = SafeNormalize(n);
return true;
}
CUDA_CALLABLE inline float SqDistPointSegment(Vec3 a, Vec3 b, Vec3 c) {
Vec3 ab = b - a, ac = c - a, bc = c - b;
float e = Dot(ac, ab);
if (e <= 0.0f)
return Dot(ac, ac);
float f = Dot(ab, ab);
if (e >= f)
return Dot(bc, bc);
return Dot(ac, ac) - e * e / f;
}
CUDA_CALLABLE inline bool PointInTriangle(Vec3 a, Vec3 b, Vec3 c, Vec3 p) {
a -= p;
b -= p;
c -= p;
/*
float eps = 0.0f;
float ab = Dot(a, b);
float ac = Dot(a, c);
float bc = Dot(b, c);
float cc = Dot(c, c);
if (bc *ac - cc * ab <= eps)
return false;
float bb = Dot(b, b);
if (ab * bc - ac*bb <= eps)
return false;
return true;
*/
Vec3 u = Cross(b, c);
Vec3 v = Cross(c, a);
if (Dot(u, v) <= 0.0f)
return false;
Vec3 w = Cross(a, b);
if (Dot(u, w) <= 0.0f)
return false;
return true;
}
CUDA_CALLABLE inline void
ClosestPointBetweenLineSegments(const Vec3 &p, const Vec3 &q, const Vec3 &r,
const Vec3 &s, float &u, float &v) {
Vec3 d1 = q - p;
Vec3 d2 = s - r;
Vec3 rp = p - r;
float a = Dot(d1, d1);
float c = Dot(d1, rp);
float e = Dot(d2, d2);
float f = Dot(d2, rp);
float b = Dot(d1, d2);
float denom = a * e - b * b;
if (denom != 0.0f)
u = Clamp((b * f - c * e) / denom, 0.0f, 1.0f);
else {
u = 0.0f;
}
v = (b * u + f) / e;
if (v < 0.0f) {
v = 0.0f;
u = Clamp(-c / a, 0.0f, 1.0f);
} else if (v > 1.0f) {
v = 1.0f;
u = Clamp((b - c) / a, 0.0f, 1.0f);
}
}
CUDA_CALLABLE inline float ClosestPointBetweenLineSegmentAndTri(
const Vec3 &p, const Vec3 &q, const Vec3 &a, const Vec3 &b, const Vec3 &c,
float &outT, float &outV, float &outW) {
float minDsq = FLT_MAX;
float minT, minV, minW;
float t, u, v, w, dSq;
Vec3 r, s;
// test if line segment intersects tri
if (IntersectSegmentTri(p, q, a, b, c, t, u, v, w, nullptr)) {
outT = t;
outV = v;
outW = w;
return 0.0f;
}
// edge ab
ClosestPointBetweenLineSegments(p, q, a, b, t, v);
r = p + (q - p) * t;
s = a + (b - a) * v;
dSq = LengthSq(r - s);
if (dSq < minDsq) {
minDsq = dSq;
minT = u;
// minU = 1.0f-v
minV = v;
minW = 0.0f;
}
// edge bc
ClosestPointBetweenLineSegments(p, q, b, c, t, w);
r = p + (q - p) * t;
s = b + (c - b) * w;
dSq = LengthSq(r - s);
if (dSq < minDsq) {
minDsq = dSq;
minT = t;
// minU = 0.0f;
minV = 1.0f - w;
minW = w;
}
// edge ca
ClosestPointBetweenLineSegments(p, q, c, a, t, u);
r = p + (q - p) * t;
s = c + (a - c) * u;
dSq = LengthSq(r - s);
if (dSq < minDsq) {
minDsq = dSq;
minT = t;
// minU = u;
minV = 0.0f;
minW = 1.0f - u;
}
// end point p
ClosestPointOnTriangle(a, b, c, p, v, w);
s = a * (1.0f - v - w) + b * v + c * w;
dSq = LengthSq(s - p);
if (dSq < minDsq) {
minDsq = dSq;
minT = 0.0f;
minV = v;
minW = w;
}
// end point q
ClosestPointOnTriangle(a, b, c, q, v, w);
s = a * (1.0f - v - w) + b * v + c * w;
dSq = LengthSq(s - q);
if (dSq < minDsq) {
minDsq = dSq;
minT = 1.0f;
minV = v;
minW = w;
}
// write mins
outT = minT;
outV = minV;
outW = minW;
return sqrtf(minDsq);
}
CUDA_CALLABLE inline float minf(const float a, const float b) {
return a < b ? a : b;
}
CUDA_CALLABLE inline float maxf(const float a, const float b) {
return a > b ? a : b;
}
CUDA_CALLABLE inline bool IntersectRayAABBFast(const Vec3 &pos,
const Vector3 &rcp_dir,
const Vector3 &min,
const Vector3 &max, float &t) {
float l1 = (min.x - pos.x) * rcp_dir.x, l2 = (max.x - pos.x) * rcp_dir.x,
lmin = minf(l1, l2), lmax = maxf(l1, l2);
l1 = (min.y - pos.y) * rcp_dir.y;
l2 = (max.y - pos.y) * rcp_dir.y;
lmin = maxf(minf(l1, l2), lmin);
lmax = minf(maxf(l1, l2), lmax);
l1 = (min.z - pos.z) * rcp_dir.z;
l2 = (max.z - pos.z) * rcp_dir.z;
lmin = maxf(minf(l1, l2), lmin);
lmax = minf(maxf(l1, l2), lmax);
// return ((lmax > 0.f) & (lmax >= lmin));
// return ((lmax > 0.f) & (lmax > lmin));
bool hit = ((lmax >= 0.f) & (lmax >= lmin));
if (hit)
t = lmin;
return hit;
}
CUDA_CALLABLE inline bool
IntersectRayAABB(const Vec3 &start, const Vector3 &dir, const Vector3 &min,
const Vector3 &max, float &t, Vector3 *normal) {
//! calculate candidate plane on each axis
float tx = -1.0f, ty = -1.0f, tz = -1.0f;
bool inside = true;
//! use unrolled loops
//! x
if (start.x < min.x) {
if (dir.x != 0.0f)
tx = (min.x - start.x) / dir.x;
inside = false;
} else if (start.x > max.x) {
if (dir.x != 0.0f)
tx = (max.x - start.x) / dir.x;
inside = false;
}
//! y
if (start.y < min.y) {
if (dir.y != 0.0f)
ty = (min.y - start.y) / dir.y;
inside = false;
} else if (start.y > max.y) {
if (dir.y != 0.0f)
ty = (max.y - start.y) / dir.y;
inside = false;
}
//! z
if (start.z < min.z) {
if (dir.z != 0.0f)
tz = (min.z - start.z) / dir.z;
inside = false;
} else if (start.z > max.z) {
if (dir.z != 0.0f)
tz = (max.z - start.z) / dir.z;
inside = false;
}
//! if point inside all planes
if (inside) {
t = 0.0f;
return true;
}
//! we now have t values for each of possible intersection planes
//! find the maximum to get the intersection point
float tmax = tx;
int taxis = 0;
if (ty > tmax) {
tmax = ty;
taxis = 1;
}
if (tz > tmax) {
tmax = tz;
taxis = 2;
}
if (tmax < 0.0f)
return false;
//! check that the intersection point lies on the plane we picked
//! we don't test the axis of closest intersection for precision reasons
//! no eps for now
float eps = 0.0f;
Vec3 hit = start + dir * tmax;
if ((hit.x < min.x - eps || hit.x > max.x + eps) && taxis != 0)
return false;
if ((hit.y < min.y - eps || hit.y > max.y + eps) && taxis != 1)
return false;
if ((hit.z < min.z - eps || hit.z > max.z + eps) && taxis != 2)
return false;
//! output results
t = tmax;
return true;
}
// construct a plane equation such that ax + by + cz + dw = 0
CUDA_CALLABLE inline Vec4 PlaneFromPoints(const Vec3 &p, const Vec3 &q,
const Vec3 &r) {
Vec3 e0 = q - p;
Vec3 e1 = r - p;
Vec3 n = SafeNormalize(Cross(e0, e1));
return Vec4(n.x, n.y, n.z, -Dot(p, n));
}
CUDA_CALLABLE inline bool
IntersectPlaneAABB(const Vec4 &plane, const Vec3 ¢er, const Vec3 &extents) {
float radius = Abs(extents.x * plane.x) + Abs(extents.y * plane.y) +
Abs(extents.z * plane.z);
float delta = Dot(center, Vec3(plane)) + plane.w;
return Abs(delta) <= radius;
}
// 2d rectangle class
class Rect {
public:
Rect() : m_left(0), m_right(0), m_top(0), m_bottom(0) {}
Rect(uint32_t left, uint32_t right, uint32_t top, uint32_t bottom)
: m_left(left), m_right(right), m_top(top), m_bottom(bottom) {
assert(left <= right);
assert(top <= bottom);
}
uint32_t Width() const { return m_right - m_left; }
uint32_t Height() const { return m_bottom - m_top; }
// expand rect x units in each direction
void Expand(uint32_t x) {
m_left -= x;
m_right += x;
m_top -= x;
m_bottom += x;
}
uint32_t Left() const { return m_left; }
uint32_t Right() const { return m_right; }
uint32_t Top() const { return m_top; }
uint32_t Bottom() const { return m_bottom; }
bool Contains(uint32_t x, uint32_t y) const {
return (x >= m_left) && (x <= m_right) && (y >= m_top) && (y <= m_bottom);
}
uint32_t m_left;
uint32_t m_right;
uint32_t m_top;
uint32_t m_bottom;
};
// doesn't really belong here but efficient (and I believe correct) in place
// random shuffle based on the Fisher-Yates / Knuth algorithm
template <typename T> void RandomShuffle(T begin, T end) {
assert(end > begin);
uint32_t n = distance(begin, end);
for (uint32_t i = 0; i < n; ++i) {
// pick a random number between 0 and n-1
uint32_t r = Rand() % (n - i);
// swap that location with the current randomly selected position
swap(*(begin + i), *(begin + (i + r)));
}
}
CUDA_CALLABLE inline Quat QuatFromAxisAngle(const Vec3 &axis, float angle) {
Vec3 v = Normalize(axis);
float half = angle * 0.5f;
float w = cosf(half);
const float sin_theta_over_two = sinf(half);
v *= sin_theta_over_two;
return Quat(v.x, v.y, v.z, w);
}
// rotate by quaternion (q, w)
CUDA_CALLABLE inline Vec3 rotate(const Vec3 &q, float w, const Vec3 &x) {
return 2.0f * (x * (w * w - 0.5f) + Cross(q, x) * w + q * Dot(q, x));
}
// rotate x by inverse transform in (q, w)
CUDA_CALLABLE inline Vec3 rotateInv(const Vec3 &q, float w, const Vec3 &x) {
return 2.0f * (x * (w * w - 0.5f) - Cross(q, x) * w + q * Dot(q, x));
}
// get rotation from u to v
CUDA_CALLABLE inline Quat GetRotationQuat(const Vec3 &_u, const Vec3 &_v) {
Vec3 u = Normalize(_u);
Vec3 v = Normalize(_v);
// check for aligned vectors
float d = Dot(u, v);
if (d > 1.0f - 1e-6f) {
// vectors are colinear, return identity
return Quat();
} else if (d < 1e-6f - 1.0f) {
// vectors are opposite, return a 180 degree rotation
Vec3 axis = Cross({1.0f, 0.0f, 0.0f}, u);
if (LengthSq(axis) < 1e-6f) {
axis = Cross({0.0f, 1.0f, 0.0f}, u);
}
return QuatFromAxisAngle(Normalize(axis), kPi);
} else {
Vec3 c = Cross(u, v);
float s = sqrtf((1.0f + d) * 2.0f);
float invs = 1.0f / s;
Quat q(invs * c.x, invs * c.y, invs * c.z, 0.5f * s);
return Normalize(q);
}
}
CUDA_CALLABLE inline void TransformBounds(const Quat &q, Vec3 extents,
Vec3 &newExtents) {
Matrix33 transform(q);
transform.cols[0] *= extents.x;
transform.cols[1] *= extents.y;
transform.cols[2] *= extents.z;
float ex = fabsf(transform.cols[0].x) + fabsf(transform.cols[1].x) +
fabsf(transform.cols[2].x);
float ey = fabsf(transform.cols[0].y) + fabsf(transform.cols[1].y) +
fabsf(transform.cols[2].y);
float ez = fabsf(transform.cols[0].z) + fabsf(transform.cols[1].z) +
fabsf(transform.cols[2].z);
newExtents = Vec3(ex, ey, ez);
}
CUDA_CALLABLE inline void TransformBounds(const Vec3 &localLower,
const Vec3 &localUpper,
const Vec3 &translation,
const Quat &rotation, float scale,
Vec3 &lower, Vec3 &upper) {
Matrix33 transform(rotation);
Vec3 extents = (localUpper - localLower) * scale;
transform.cols[0] *= extents.x;
transform.cols[1] *= extents.y;
transform.cols[2] *= extents.z;
float ex = fabsf(transform.cols[0].x) + fabsf(transform.cols[1].x) +
fabsf(transform.cols[2].x);
float ey = fabsf(transform.cols[0].y) + fabsf(transform.cols[1].y) +
fabsf(transform.cols[2].y);
float ez = fabsf(transform.cols[0].z) + fabsf(transform.cols[1].z) +
fabsf(transform.cols[2].z);
Vec3 center = (localUpper + localLower) * 0.5f * scale;
lower = rotation * center + translation - Vec3(ex, ey, ez) * 0.5f;
upper = rotation * center + translation + Vec3(ex, ey, ez) * 0.5f;
}
// Poisson sample the volume of a sphere with given separation
inline int PoissonSample3D(float radius, float separation, Vec3 *points,
int maxPoints, int maxAttempts) {
// naive O(n^2) dart throwing algorithm to generate a Poisson distribution
int c = 0;
while (c < maxPoints) {
int a = 0;
while (a < maxAttempts) {
const Vec3 p = UniformSampleSphereVolume() * radius;
// test against points already generated
int i = 0;
for (; i < c; ++i) {
Vec3 d = p - points[i];
// reject if closer than separation
if (LengthSq(d) < separation * separation)
break;
}
// sample passed all tests, accept
if (i == c) {
points[c] = p;
++c;
break;
}
++a;
}
// exit if we reached the max attempts and didn't manage to add a point
if (a == maxAttempts)
break;
}
return c;
}
inline int PoissonSampleBox3D(Vec3 lower, Vec3 upper, float separation,
Vec3 *points, int maxPoints, int maxAttempts) {
// naive O(n^2) dart throwing algorithm to generate a Poisson distribution
int c = 0;
while (c < maxPoints) {
int a = 0;
while (a < maxAttempts) {
const Vec3 p = Vec3(Randf(lower.x, upper.x), Randf(lower.y, upper.y),
Randf(lower.z, upper.z));
// test against points already generated
int i = 0;
for (; i < c; ++i) {
Vec3 d = p - points[i];
// reject if closer than separation
if (LengthSq(d) < separation * separation)
break;
}
// sample passed all tests, accept
if (i == c) {
points[c] = p;
++c;
break;
}
++a;
}
// exit if we reached the max attempts and didn't manage to add a point
if (a == maxAttempts)
break;
}
return c;
}
// Generates an optimally dense sphere packing at the origin (implicit sphere at
// the origin)
inline int TightPack3D(float radius, float separation, Vec3 *points,
int maxPoints) {
int dim = int(ceilf(radius / separation));
int c = 0;
for (int z = -dim; z <= dim; ++z) {
for (int y = -dim; y <= dim; ++y) {
for (int x = -dim; x <= dim; ++x) {
float xpos =
x * separation + (((y + z) & 1) ? separation * 0.5f : 0.0f);
float ypos = y * sqrtf(0.75f) * separation;
float zpos = z * sqrtf(0.75f) * separation;
Vec3 p(xpos, ypos, zpos);
// skip center
if (LengthSq(p) == 0.0f)
continue;
if (c < maxPoints && Length(p) <= radius) {
points[c] = p;
++c;
}
}
}
}
return c;
}
struct Bounds {
CUDA_CALLABLE inline Bounds() : lower(FLT_MAX), upper(-FLT_MAX) {}
CUDA_CALLABLE inline Bounds(const Vec3 &lower, const Vec3 &upper)
: lower(lower), upper(upper) {}
CUDA_CALLABLE inline Vec3 GetCenter() const { return 0.5f * (lower + upper); }
CUDA_CALLABLE inline Vec3 GetEdges() const { return upper - lower; }
CUDA_CALLABLE inline void Expand(float r) {
lower -= Vec3(r);
upper += Vec3(r);
}
CUDA_CALLABLE inline void Expand(const Vec3 &r) {
lower -= r;
upper += r;
}
CUDA_CALLABLE inline bool Empty() const {
return lower.x >= upper.x || lower.y >= upper.y || lower.z >= upper.z;
}
CUDA_CALLABLE inline bool Overlaps(const Vec3 &p) const {
if (p.x < lower.x || p.y < lower.y || p.z < lower.z || p.x > upper.x ||
p.y > upper.y || p.z > upper.z) {
return false;
} else {
return true;
}
}
CUDA_CALLABLE inline bool Overlaps(const Bounds &b) const {
if (lower.x > b.upper.x || lower.y > b.upper.y || lower.z > b.upper.z ||
upper.x < b.lower.x || upper.y < b.lower.y || upper.z < b.lower.z) {
return false;
} else {
return true;
}
}
Vec3 lower;
Vec3 upper;
};
CUDA_CALLABLE inline Bounds Union(const Bounds &a, const Vec3 &b) {
return Bounds(Min(a.lower, b), Max(a.upper, b));
}
CUDA_CALLABLE inline Bounds Union(const Bounds &a, const Bounds &b) {
return Bounds(Min(a.lower, b.lower), Max(a.upper, b.upper));
}
CUDA_CALLABLE inline Bounds Intersection(const Bounds &a, const Bounds &b) {
return Bounds(Max(a.lower, b.lower), Min(a.upper, b.upper));
}
CUDA_CALLABLE inline float SurfaceArea(const Bounds &b) {
Vec3 e = b.upper - b.lower;
return 2.0f * (e.x * e.y + e.x * e.z + e.y * e.z);
}
inline void ExtractFrustumPlanes(const Matrix44 &m, Plane *planes) {
// Based on Fast Extraction of Viewing Frustum Planes from the
// WorldView-Projection Matrix, Gill Grib, Klaus Hartmann
// Left clipping plane
planes[0].x = m(3, 0) + m(0, 0);
planes[0].y = m(3, 1) + m(0, 1);
planes[0].z = m(3, 2) + m(0, 2);
planes[0].w = m(3, 3) + m(0, 3);
// Right clipping plane
planes[1].x = m(3, 0) - m(0, 0);
planes[1].y = m(3, 1) - m(0, 1);
planes[1].z = m(3, 2) - m(0, 2);
planes[1].w = m(3, 3) - m(0, 3);
// Top clipping plane
planes[2].x = m(3, 0) - m(1, 0);
planes[2].y = m(3, 1) - m(1, 1);
planes[2].z = m(3, 2) - m(1, 2);
planes[2].w = m(3, 3) - m(1, 3);
// Bottom clipping plane
planes[3].x = m(3, 0) + m(1, 0);
planes[3].y = m(3, 1) + m(1, 1);
planes[3].z = m(3, 2) + m(1, 2);
planes[3].w = m(3, 3) + m(1, 3);
// Near clipping plane
planes[4].x = m(3, 0) + m(2, 0);
planes[4].y = m(3, 1) + m(2, 1);
planes[4].z = m(3, 2) + m(2, 2);
planes[4].w = m(3, 3) + m(2, 3);
// Far clipping plane
planes[5].x = m(3, 0) - m(2, 0);
planes[5].y = m(3, 1) - m(2, 1);
planes[5].z = m(3, 2) - m(2, 2);
planes[5].w = m(3, 3) - m(2, 3);
NormalizePlane(planes[0]);
NormalizePlane(planes[1]);
NormalizePlane(planes[2]);
NormalizePlane(planes[3]);
NormalizePlane(planes[4]);
NormalizePlane(planes[5]);
}
inline bool TestSphereAgainstFrustum(const Plane *planes, Vec3 center,
float radius) {
for (int i = 0; i < 6; ++i) {
float d = -Dot(planes[i], Point3(center)) - radius;
if (d > 0.0f)
return false;
}
return true;
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/types.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "stdint.h"
#include <cstddef>
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/common_math.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "core.h"
#include "types.h"
#include <cassert>
#include <cmath>
#include <float.h>
#include <string.h>
#ifdef __CUDACC__
#define CUDA_CALLABLE __host__ __device__
#else
#define CUDA_CALLABLE
#endif
#define kPi 3.141592653589f
const float k2Pi = 2.0f * kPi;
const float kInvPi = 1.0f / kPi;
const float kInv2Pi = 0.5f / kPi;
const float kDegToRad = kPi / 180.0f;
const float kRadToDeg = 180.0f / kPi;
CUDA_CALLABLE inline float DegToRad(float t) { return t * kDegToRad; }
CUDA_CALLABLE inline float RadToDeg(float t) { return t * kRadToDeg; }
CUDA_CALLABLE inline float Sin(float theta) { return sinf(theta); }
CUDA_CALLABLE inline float Cos(float theta) { return cosf(theta); }
CUDA_CALLABLE inline void SinCos(float theta, float &s, float &c) {
// no optimizations yet
s = sinf(theta);
c = cosf(theta);
}
CUDA_CALLABLE inline float Tan(float theta) { return tanf(theta); }
CUDA_CALLABLE inline float Sqrt(float x) { return sqrtf(x); }
CUDA_CALLABLE inline double Sqrt(double x) { return sqrt(x); }
CUDA_CALLABLE inline float ASin(float theta) { return asinf(theta); }
CUDA_CALLABLE inline float ACos(float theta) { return acosf(theta); }
CUDA_CALLABLE inline float ATan(float theta) { return atanf(theta); }
CUDA_CALLABLE inline float ATan2(float x, float y) { return atan2f(x, y); }
CUDA_CALLABLE inline float Abs(float x) { return fabsf(x); }
CUDA_CALLABLE inline float Pow(float b, float e) { return powf(b, e); }
CUDA_CALLABLE inline float Sgn(float x) { return (x < 0.0f ? -1.0f : 1.0f); }
CUDA_CALLABLE inline float Sign(float x) { return x < 0.0f ? -1.0f : 1.0f; }
CUDA_CALLABLE inline double Sign(double x) { return x < 0.0f ? -1.0f : 1.0f; }
CUDA_CALLABLE inline float Mod(float x, float y) { return fmod(x, y); }
template <typename T> CUDA_CALLABLE inline T Min(T a, T b) {
return a < b ? a : b;
}
template <typename T> CUDA_CALLABLE inline T Max(T a, T b) {
return a > b ? a : b;
}
template <typename T> CUDA_CALLABLE inline void Swap(T &a, T &b) {
T tmp = a;
a = b;
b = tmp;
}
template <typename T> CUDA_CALLABLE inline T Clamp(T a, T low, T high) {
if (low > high)
Swap(low, high);
return Max(low, Min(a, high));
}
template <typename V, typename T>
CUDA_CALLABLE inline V Lerp(const V &start, const V &end, const T &t) {
return start + (end - start) * t;
}
CUDA_CALLABLE inline float InvSqrt(float x) { return 1.0f / sqrtf(x); }
// round towards +infinity
CUDA_CALLABLE inline int Round(float f) { return int(f + 0.5f); }
template <typename T> CUDA_CALLABLE T Normalize(const T &v) {
T a(v);
a /= Length(v);
return a;
}
template <typename T>
CUDA_CALLABLE inline typename T::value_type LengthSq(const T v) {
return Dot(v, v);
}
template <typename T>
CUDA_CALLABLE inline typename T::value_type Length(const T &v) {
typename T::value_type lSq = LengthSq(v);
if (lSq)
return Sqrt(LengthSq(v));
else
return 0.0f;
}
// this is mainly a helper function used by script
template <typename T>
CUDA_CALLABLE inline typename T::value_type Distance(const T &v1, const T &v2) {
return Length(v1 - v2);
}
template <typename T>
CUDA_CALLABLE inline T SafeNormalize(const T &v, const T &fallback = T()) {
float l = LengthSq(v);
if (l > 0.0f) {
return v * InvSqrt(l);
} else
return fallback;
}
template <typename T> CUDA_CALLABLE inline T Sqr(T x) { return x * x; }
template <typename T> CUDA_CALLABLE inline T Cube(T x) { return x * x * x; }
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/math/core/core.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#define ENABLE_VERBOSE_OUTPUT 0
#define ENABLE_APIC_CAPTURE 0
#define ENABLE_PERFALYZE_CAPTURE 0
#if ENABLE_VERBOSE_OUTPUT
#define VERBOSE(a) a##;
#else
#define VERBOSE(a)
#endif
//#define Super __super
// basically just a collection of macros and types
#ifndef UNUSED
#define UNUSED(x) (void)x;
#endif
#define NOMINMAX
#if !PLATFORM_OPENCL
#include <cassert>
#endif
#include "types.h"
#if !PLATFORM_SPU && !PLATFORM_OPENCL
#include <algorithm>
#include <fstream>
#include <functional>
#include <iostream>
#include <string>
#endif
#include <string.h>
// disable some warnings
#if _WIN32
#pragma warning(disable : 4996) // secure io
#pragma warning(disable : 4100) // unreferenced param
#pragma warning( \
disable : 4324) // structure was padded due to __declspec(align())
#endif
// alignment helpers
#define DEFAULT_ALIGNMENT 16
#if PLATFORM_LINUX
#define ALIGN_N(x)
#define ENDALIGN_N(x) __attribute__((aligned(x)))
#else
#define ALIGN_N(x) __declspec(align(x))
#define END_ALIGN_N(x)
#endif
#define ALIGN ALIGN_N(DEFAULT_ALIGNMENT)
#define END_ALIGN END_ALIGN_N(DEFAULT_ALIGNMENT)
inline bool IsPowerOfTwo(int n) { return (n & (n - 1)) == 0; }
// align a ptr to a power of tow
template <typename T> inline T *AlignPtr(T *p, uint32_t alignment) {
assert(IsPowerOfTwo(alignment));
// cast to safe ptr type
uintptr_t up = reinterpret_cast<uintptr_t>(p);
return (T *)((up + (alignment - 1)) & ~(alignment - 1));
}
// align an unsigned value to a power of two
inline uint32_t Align(uint32_t val, uint32_t alignment) {
assert(IsPowerOfTwo(alignment));
return (val + (alignment - 1)) & ~(alignment - 1);
}
inline bool IsAligned(void *p, uint32_t alignment) {
return (((uintptr_t)p) & (alignment - 1)) == 0;
}
template <typename To, typename From> To UnionCast(From in) {
union {
To t;
From f;
};
f = in;
return t;
}
// Endian helpers
template <typename T> T ByteSwap(const T &val) {
T copy = val;
uint8_t *p = reinterpret_cast<uint8_t *>(©);
std::reverse(p, p + sizeof(T));
return copy;
}
#ifndef LITTLE_ENDIAN
#define LITTLE_ENDIAN WIN32
#endif
#ifndef BIG_ENDIAN
#define BIG_ENDIAN PLATFORM_PS3 || PLATFORM_SPU
#endif
#if BIG_ENDIAN
#define ToLittleEndian(x) ByteSwap(x)
#else
#define ToLittleEndian(x) x
#endif
//#include "platform.h"
//#define sizeof_array(x) (sizeof(x)/sizeof(*x))
template <typename T, size_t N> size_t sizeof_array(const T (&)[N]) {
return N;
}
// unary_function depricated in c++11
// functor designed for use in the stl
// template <typename T>
// class free_ptr : public std::unary_function<T*, void>
//{
// public:
// void operator()(const T* ptr)
// {
// delete ptr;
// }
//};
// given the path of one file it strips the filename and appends the relative
// path onto it
inline void MakeRelativePath(const char *filePath, const char *fileRelativePath,
char *fullPath) {
// get base path of file
const char *lastSlash = nullptr;
if (!lastSlash)
lastSlash = strrchr(filePath, '\\');
if (!lastSlash)
lastSlash = strrchr(filePath, '/');
int baseLength = 0;
if (lastSlash) {
baseLength = int(lastSlash - filePath) + 1;
// copy base path (including slash to relative path)
memcpy(fullPath, filePath, baseLength);
}
// if (fileRelativePath[0] == '.')
//++fileRelativePath;
if (fileRelativePath[0] == '\\' || fileRelativePath[0] == '/')
++fileRelativePath;
// append mesh filename
strcpy(fullPath + baseLength, fileRelativePath);
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/core/mesh.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// clang-format off
#include "../UsdPCH.h"
// clang-format on
#include "assimp/scene.h"
#include "../math/core/core.h"
#include "../math/core/maths.h"
#include <string>
#include <vector>
struct TextureData {
int width; // width of texture - if height == 0, then width will be the same
// as buffer.size()
int height; // height of textur - if height == 0, then the buffer represents a
// compressed image with file type corresponding to format
std::vector<uint8_t> buffer; // r8g8b8a8 if not compressed
std::string
format; // format of the data in buffer if compressed (i.e. png, jpg, bmp)
};
// direct representation of .obj style material
struct Material {
std::string name;
Vec3 Ka;
Vec3 Kd;
Vec3 Ks;
Vec3 emissive;
float Ns = 50.0f; // specular exponent
float metallic = 0.0f;
float specular = 0.0f;
std::string mapKd = ""; // diffuse
std::string mapKs = ""; // shininess
std::string mapBump = ""; // normal
std::string mapEnv = ""; // emissive
std::string mapMetallic = "";
bool hasDiffuse = false;
bool hasSpecular = false;
bool hasMetallic = false;
bool hasEmissive = false;
bool hasShininess = false;
};
struct MaterialAssignment {
int startTri;
int endTri;
int startIndices;
int endIndices;
int material;
};
struct UVInfo {
std::vector<std::vector<Vector2>> uvs;
std::vector<unsigned int> uvStartIndices;
};
/// Used when loading meshes to determine how to load normals
enum GymMeshNormalMode {
eFromAsset, // try to load normals from the mesh
eComputePerVertex, // compute per-vertex normals
eComputePerFace, // compute per-face normals
};
struct USDMesh {
std::string name;
pxr::VtArray<pxr::GfVec3f> points;
pxr::VtArray<int> faceVertexCounts;
pxr::VtArray<int> faceVertexIndices;
pxr::VtArray<pxr::GfVec3f> normals; // Face varing normals
pxr::VtArray<pxr::VtArray<pxr::GfVec2f>> uvs; // Face varing uvs
pxr::VtArray<pxr::VtArray<pxr::GfVec3f>> colors; // Face varing colors
};
struct Mesh {
void AddMesh(const Mesh &m);
uint32_t GetNumVertices() const { return uint32_t(m_positions.size()); }
uint32_t GetNumFaces() const { return uint32_t(m_indices.size()) / 3; }
void DuplicateVertex(uint32_t i);
void CalculateFaceNormals(); // splits mesh at vertices to calculate faceted
// normals (changes topology)
void CalculateNormals();
void Transform(const Matrix44 &m);
void Normalize(float s = 1.0f); // scale so bounds in any dimension equals s
// and lower bound = (0,0,0)
void Flip();
void GetBounds(Vector3 &minExtents, Vector3 &maxExtents) const;
std::string name; // optional
std::vector<Point3> m_positions;
std::vector<Vector3> m_normals;
std::vector<Vector2> m_texcoords;
std::vector<Colour> m_colours;
std::vector<uint32_t> m_indices;
std::vector<Material> m_materials;
std::vector<MaterialAssignment> m_materialAssignments;
std::vector<USDMesh> m_usdMeshPrims;
};
// Create mesh from Assimp import
void addAssimpNodeToMesh(const aiScene *scene, const aiNode *node,
aiMatrix4x4 xform, UVInfo &uvInfo, Mesh *mesh);
Mesh *ImportMeshAssimp(const char *path);
// create mesh from file
Mesh *ImportMeshFromObj(const char *path);
Mesh *ImportMeshFromPly(const char *path);
Mesh *ImportMeshFromBin(const char *path);
Mesh *ImportMeshFromStl(const char *path);
// just switches on filename
Mesh *ImportMesh(const char *path);
// save a mesh in a flat binary format
void ExportMeshToBin(const char *path, const Mesh *m);
// create procedural primitives
Mesh *CreateTriMesh(float size, float y = 0.0f);
Mesh *CreateCubeMesh();
Mesh *CreateQuadMesh(float sizex, float sizez, int gridx, int gridz);
Mesh *CreateDiscMesh(float radius, uint32_t segments);
Mesh *CreateTetrahedron(float ground = 0.0f,
float height = 1.0f); // fixed but not used
Mesh *CreateSphere(int slices, int segments, float radius = 1.0f);
Mesh *CreateEllipsoid(int slices, int segments, Vec3 radiis);
Mesh *CreateCapsule(int slices, int segments, float radius = 1.0f,
float halfHeight = 1.0f);
Mesh *CreateCylinder(int slices, float radius, float halfHeight,
bool cap = false);
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/core/mesh.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#include "mesh.h"
#include "assimp/Importer.hpp"
#include "assimp/postprocess.h"
#include "assimp/scene.h"
//#include "platform.h"
#include <fstream>
#include <iostream>
#include <map>
using namespace std;
void Mesh::DuplicateVertex(uint32_t i) {
assert(m_positions.size() > i);
m_positions.push_back(m_positions[i]);
if (m_normals.size() > i)
m_normals.push_back(m_normals[i]);
if (m_colours.size() > i)
m_colours.push_back(m_colours[i]);
if (m_texcoords.size() > i)
m_texcoords.push_back(m_texcoords[i]);
}
void Mesh::Normalize(float s) {
Vec3 lower, upper;
GetBounds(lower, upper);
Vec3 edges = upper - lower;
Transform(TranslationMatrix(Point3(-lower)));
float maxEdge = max(edges.x, max(edges.y, edges.z));
Transform(ScaleMatrix(s / maxEdge));
}
void Mesh::CalculateFaceNormals() {
Mesh m;
int numTris = int(GetNumFaces());
for (int i = 0; i < numTris; ++i) {
int a = m_indices[i * 3 + 0];
int b = m_indices[i * 3 + 1];
int c = m_indices[i * 3 + 2];
int start = int(m.m_positions.size());
m.m_positions.push_back(m_positions[a]);
m.m_positions.push_back(m_positions[b]);
m.m_positions.push_back(m_positions[c]);
if (!m_texcoords.empty()) {
m.m_texcoords.push_back(m_texcoords[a]);
m.m_texcoords.push_back(m_texcoords[b]);
m.m_texcoords.push_back(m_texcoords[c]);
}
if (!m_colours.empty()) {
m.m_colours.push_back(m_colours[a]);
m.m_colours.push_back(m_colours[b]);
m.m_colours.push_back(m_colours[c]);
}
m.m_indices.push_back(start + 0);
m.m_indices.push_back(start + 1);
m.m_indices.push_back(start + 2);
}
m.CalculateNormals();
m.m_materials = this->m_materials;
m.m_materialAssignments = this->m_materialAssignments;
m.m_usdMeshPrims = this->m_usdMeshPrims;
*this = m;
}
void Mesh::CalculateNormals() {
m_normals.resize(0);
m_normals.resize(m_positions.size());
int numTris = int(GetNumFaces());
for (int i = 0; i < numTris; ++i) {
int a = m_indices[i * 3 + 0];
int b = m_indices[i * 3 + 1];
int c = m_indices[i * 3 + 2];
Vec3 n =
Cross(m_positions[b] - m_positions[a], m_positions[c] - m_positions[a]);
m_normals[a] += n;
m_normals[b] += n;
m_normals[c] += n;
}
int numVertices = int(GetNumVertices());
for (int i = 0; i < numVertices; ++i)
m_normals[i] = ::Normalize(m_normals[i]);
}
namespace {
enum PlyFormat { eAscii, eBinaryBigEndian };
template <typename T> T PlyRead(ifstream &s, PlyFormat format) {
T data = eAscii;
switch (format) {
case eAscii: {
s >> data;
break;
}
case eBinaryBigEndian: {
char c[sizeof(T)];
s.read(c, sizeof(T));
reverse(c, c + sizeof(T));
data = *(T *)c;
break;
}
default:
assert(0);
}
return data;
}
} // namespace
static pxr::GfVec3f AiVector3dToGfVector3f(const aiVector3D &vector) {
return pxr::GfVec3f(vector.x, vector.y, vector.z);
}
static pxr::GfVec2f AiVector3dToGfVector2f(const aiVector3D &vector) {
return pxr::GfVec2f(vector.x, vector.y);
}
pxr::GfVec3f AiColor4DToGfVector3f(const aiColor4D &color) {
return pxr::GfVec3f(color.r, color.g, color.b);
}
void addAssimpNodeToMesh(const aiScene *scene, const aiNode *node,
aiMatrix4x4 xform, UVInfo &uvInfo, Mesh *mesh) {
unsigned int triOffset =
static_cast<unsigned int>(mesh->m_indices.size() / 3);
unsigned int pointOffset =
static_cast<unsigned int>(mesh->m_positions.size());
unsigned int nodeTriOffset = 0;
unsigned int nodePointOffset = 0;
for (unsigned int m = 0; m < node->mNumMeshes; ++m) {
const aiMesh *assimpMesh = scene->mMeshes[node->mMeshes[m]];
USDMesh usdmesh;
for (unsigned int j = 0; j < assimpMesh->mNumVertices; ++j) {
const aiVector3D &p = xform * assimpMesh->mVertices[j];
mesh->m_positions.push_back(Point3{p.x, p.y, p.z});
usdmesh.points.push_back(AiVector3dToGfVector3f(p));
}
unsigned int numColourChannels = assimpMesh->GetNumColorChannels();
usdmesh.colors.resize(numColourChannels);
if (numColourChannels > 0) {
if (numColourChannels > 1) {
std::cout
<< "Multiple colour channels not supported. Using first channel."
<< std::endl;
}
unsigned int colourChannel = 0;
for (; colourChannel < AI_MAX_NUMBER_OF_COLOR_SETS; ++colourChannel) {
if (assimpMesh->HasVertexColors(colourChannel))
break;
}
for (unsigned int j = 0; j < assimpMesh->mNumVertices; ++j) {
const aiColor4D &c = assimpMesh->mColors[colourChannel][j];
mesh->m_colours.push_back(Colour{c.r, c.g, c.b, c.a});
}
}
unsigned int numUVChannels = assimpMesh->GetNumUVChannels();
usdmesh.uvs.resize(numUVChannels);
if (numUVChannels > 0) {
if (numUVChannels > 1) {
std::cout << "Multiple UV channels not supported. Using first channel."
<< std::endl;
}
unsigned int UVChannel = 0;
for (; UVChannel < AI_MAX_NUMBER_OF_TEXTURECOORDS; ++UVChannel) {
if (assimpMesh->HasTextureCoords(UVChannel) &&
assimpMesh->mNumUVComponents[UVChannel] <= 2)
break;
}
uvInfo.uvs.emplace_back();
auto ¤tUV = uvInfo.uvs.back();
uvInfo.uvStartIndices.push_back(pointOffset + nodePointOffset);
for (unsigned int j = 0; j < assimpMesh->mNumVertices; ++j) {
const aiVector3D &uv = assimpMesh->mTextureCoords[UVChannel][j];
mesh->m_texcoords.push_back(Vector2{uv.x, uv.y});
currentUV.push_back(Vector2{uv.x, uv.y});
}
}
for (size_t j = 0; j < assimpMesh->mNumFaces; j++) {
const aiFace &face = assimpMesh->mFaces[j];
if (face.mNumIndices >= 3) {
for (size_t k = 0; k < face.mNumIndices; k++) {
if (assimpMesh->mNormals) {
usdmesh.normals.push_back(
AiVector3dToGfVector3f(assimpMesh->mNormals[face.mIndices[k]]));
}
for (size_t m = 0; m < usdmesh.uvs.size(); m++) {
usdmesh.uvs[m].push_back(AiVector3dToGfVector2f(
assimpMesh->mTextureCoords[m][face.mIndices[k]]));
}
for (size_t m = 0; m < usdmesh.colors.size(); m++) {
usdmesh.colors[m].push_back(AiColor4DToGfVector3f(
assimpMesh->mColors[m][face.mIndices[k]]));
}
}
usdmesh.faceVertexCounts.push_back(face.mNumIndices);
}
}
unsigned int indexOffset = pointOffset + nodePointOffset;
for (unsigned int j = 0; j < assimpMesh->mNumFaces; ++j) {
const aiFace &f = assimpMesh->mFaces[j];
if (f.mNumIndices >= 3) {
for (size_t k = 0; k < f.mNumIndices; k++) {
usdmesh.faceVertexIndices.push_back(f.mIndices[k]);
}
}
// assert(f.mNumIndices > 0 && f.mNumIndices <= 3); // importer should
// triangluate mesh
if (f.mNumIndices == 1) {
mesh->m_indices.push_back(f.mIndices[0] + indexOffset);
mesh->m_indices.push_back(f.mIndices[0] + indexOffset);
mesh->m_indices.push_back(f.mIndices[0] + indexOffset);
} else if (f.mNumIndices == 2) {
mesh->m_indices.push_back(f.mIndices[0] + indexOffset);
mesh->m_indices.push_back(f.mIndices[1] + indexOffset);
mesh->m_indices.push_back(f.mIndices[1] + indexOffset);
} else if (f.mNumIndices == 3) {
mesh->m_indices.push_back(f.mIndices[0] + indexOffset);
mesh->m_indices.push_back(f.mIndices[1] + indexOffset);
mesh->m_indices.push_back(f.mIndices[2] + indexOffset);
}
}
if (assimpMesh->HasNormals()) {
for (unsigned int j = 0; j < assimpMesh->mNumVertices; ++j) {
const aiVector3D &n = xform * assimpMesh->mNormals[j];
mesh->m_normals.push_back(SafeNormalize(Vector3{n.x, n.y, n.z}));
}
}
MaterialAssignment matAssign;
matAssign.startTri = triOffset + nodeTriOffset;
matAssign.endTri = triOffset + nodeTriOffset + assimpMesh->mNumFaces;
matAssign.material = static_cast<int>(assimpMesh->mMaterialIndex);
mesh->m_materialAssignments.push_back(matAssign);
nodeTriOffset += assimpMesh->mNumFaces;
nodePointOffset += assimpMesh->mNumVertices;
mesh->m_usdMeshPrims.push_back(usdmesh);
}
}
Mesh *ImportMeshAssimp(const char *path) {
Assimp::Importer importer;
const aiScene *scene =
importer.ReadFile(std::string(path), aiProcess_Triangulate |
aiProcess_JoinIdenticalVertices);
if (!scene) {
return nullptr;
}
Mesh *mesh = new Mesh;
for (unsigned int i = 0; i < scene->mNumMaterials; ++i) {
aiMaterial *assimpMaterial = scene->mMaterials[i];
Material mat;
mat.name = std::string{assimpMaterial->GetName().C_Str()};
aiColor3D Ka;
if (assimpMaterial->Get(AI_MATKEY_COLOR_AMBIENT, Ka) == AI_SUCCESS) {
mat.Ka = Vec3{Ka.r, Ka.g, Ka.b};
}
aiColor3D Kd;
if (assimpMaterial->Get(AI_MATKEY_COLOR_DIFFUSE, Kd) == AI_SUCCESS) {
mat.Kd = Vec3{Kd.r, Kd.g, Kd.b};
mat.hasDiffuse = true;
}
aiColor3D Ks;
if (assimpMaterial->Get(AI_MATKEY_COLOR_SPECULAR, Ks) == AI_SUCCESS) {
mat.Ks = Vec3{Ks.r, Ks.g, Ks.b};
}
float specular;
if (assimpMaterial->Get(AI_MATKEY_SPECULAR_FACTOR, specular) ==
AI_SUCCESS) {
mat.specular = specular;
mat.hasSpecular = true;
}
float Ns;
if (assimpMaterial->Get(AI_MATKEY_SHININESS, Ns) == AI_SUCCESS) {
mat.Ns = Ns;
mat.hasShininess = true;
}
float metallic;
if (assimpMaterial->Get(AI_MATKEY_METALLIC_FACTOR, metallic) ==
AI_SUCCESS) {
mat.metallic = metallic;
mat.hasMetallic = true;
}
aiColor3D emissive;
if (assimpMaterial->Get(AI_MATKEY_COLOR_EMISSIVE, emissive) == AI_SUCCESS) {
mat.emissive = Vec3{emissive.r, emissive.g, emissive.b};
mat.hasEmissive = true;
}
aiString path;
if (assimpMaterial->GetTexture(aiTextureType_DIFFUSE, 0, &path) ==
aiReturn_SUCCESS) {
mat.mapKd = std::string(path.C_Str());
}
if (assimpMaterial->GetTexture(aiTextureType_HEIGHT, 0, &path) ==
aiReturn_SUCCESS) {
mat.mapBump = std::string(path.C_Str());
}
if (assimpMaterial->GetTexture(aiTextureType_REFLECTION, 0, &path) ==
aiReturn_SUCCESS) {
mat.mapMetallic = std::string(path.C_Str());
}
if (assimpMaterial->GetTexture(aiTextureType_EMISSIVE, 0, &path) ==
aiReturn_SUCCESS) {
mat.mapEnv = std::string(path.C_Str());
}
if (assimpMaterial->GetTexture(aiTextureType_SHININESS, 0, &path) ==
aiReturn_SUCCESS) {
mat.mapKs = std::string(path.C_Str());
}
mesh->m_materials.push_back(mat);
}
UVInfo uvInfo;
std::vector<std::pair<const aiNode *, aiMatrix4x4>> nodeStack;
const aiNode *root = scene->mRootNode;
nodeStack.push_back(std::make_pair(root, root->mTransformation));
while (!nodeStack.empty()) {
auto nodeAndTransform = nodeStack.back();
const aiNode *node = nodeAndTransform.first;
aiMatrix4x4 xform = nodeAndTransform.second;
nodeStack.pop_back();
addAssimpNodeToMesh(scene, node, xform, uvInfo, mesh);
for (unsigned int c = 0; c < node->mNumChildren; ++c) {
const aiNode *child = node->mChildren[c];
nodeStack.push_back(
std::make_pair(child, xform * child->mTransformation));
}
}
return mesh;
}
string GetExtension(const char *path) {
const char *s = strrchr(path, '.');
if (s) {
return string(s + 1);
} else {
return "";
}
}
Mesh *ImportMesh(const char *path) {
std::string ext = GetExtension(path);
Mesh *mesh = nullptr;
if (ext == "ply")
mesh = ImportMeshFromPly(path);
else if (ext == "obj")
mesh = ImportMeshFromObj(path);
else if (ext == "stl")
mesh = ImportMeshFromStl(path);
return mesh;
}
Mesh *ImportMeshFromBin(const char *path) {
// double start = GetSeconds();
FILE *f = fopen(path, "rb");
if (f) {
int numVertices;
int numIndices;
size_t len;
len = fread(&numVertices, sizeof(numVertices), 1, f);
len = fread(&numIndices, sizeof(numIndices), 1, f);
Mesh *m = new Mesh();
m->m_positions.resize(numVertices);
m->m_normals.resize(numVertices);
m->m_indices.resize(numIndices);
len = fread(&m->m_positions[0], sizeof(Vec3) * numVertices, 1, f);
len = fread(&m->m_normals[0], sizeof(Vec3) * numVertices, 1, f);
len = fread(&m->m_indices[0], sizeof(int) * numIndices, 1, f);
(void)len;
fclose(f);
// double end = GetSeconds();
// printf("Imported mesh %s in %f ms\n", path, (end - start) * 1000.0f);
return m;
}
return nullptr;
}
void ExportMeshToBin(const char *path, const Mesh *m) {
FILE *f = fopen(path, "wb");
if (f) {
int numVertices = int(m->m_positions.size());
int numIndices = int(m->m_indices.size());
fwrite(&numVertices, sizeof(numVertices), 1, f);
fwrite(&numIndices, sizeof(numIndices), 1, f);
// write data blocks
fwrite(&m->m_positions[0], sizeof(Vec3) * numVertices, 1, f);
fwrite(&m->m_normals[0], sizeof(Vec3) * numVertices, 1, f);
fwrite(&m->m_indices[0], sizeof(int) * numIndices, 1, f);
fclose(f);
}
}
Mesh *ImportMeshFromPly(const char *path) {
ifstream file(path, ios_base::in | ios_base::binary);
if (!file)
return nullptr;
// some scratch memory
const uint32_t kMaxLineLength = 1024;
char buffer[kMaxLineLength];
// double startTime = GetSeconds();
file >> buffer;
if (strcmp(buffer, "ply") != 0)
return nullptr;
PlyFormat format = eAscii;
uint32_t numFaces = 0;
uint32_t numVertices = 0;
const uint32_t kMaxProperties = 16;
uint32_t numProperties = 0;
float properties[kMaxProperties];
bool vertexElement = false;
while (file) {
file >> buffer;
if (strcmp(buffer, "element") == 0) {
file >> buffer;
if (strcmp(buffer, "face") == 0) {
vertexElement = false;
file >> numFaces;
}
else if (strcmp(buffer, "vertex") == 0) {
vertexElement = true;
file >> numVertices;
}
} else if (strcmp(buffer, "format") == 0) {
file >> buffer;
if (strcmp(buffer, "ascii") == 0) {
format = eAscii;
} else if (strcmp(buffer, "binary_big_endian") == 0) {
format = eBinaryBigEndian;
} else {
printf("Ply: unknown format\n");
return nullptr;
}
} else if (strcmp(buffer, "property") == 0) {
if (vertexElement)
++numProperties;
} else if (strcmp(buffer, "end_header") == 0) {
break;
}
}
// eat newline
char nl;
file.read(&nl, 1);
// debug
#if ENABLE_VERBOSE_OUTPUT
printf("Loaded mesh: %s numFaces: %d numVertices: %d format: %d "
"numProperties: %d\n",
path, numFaces, numVertices, format, numProperties);
#endif
Mesh *mesh = new Mesh;
mesh->m_positions.resize(numVertices);
mesh->m_normals.resize(numVertices);
mesh->m_colours.resize(numVertices, Colour(1.0f, 1.0f, 1.0f, 1.0f));
mesh->m_indices.reserve(numFaces * 3);
// read vertices
for (uint32_t v = 0; v < numVertices; ++v) {
for (uint32_t i = 0; i < numProperties; ++i) {
properties[i] = PlyRead<float>(file, format);
}
mesh->m_positions[v] = Point3(properties[0], properties[1], properties[2]);
mesh->m_normals[v] = Vector3(0.0f, 0.0f, 0.0f);
}
// read indices
for (uint32_t f = 0; f < numFaces; ++f) {
uint32_t numIndices = (format == eAscii) ? PlyRead<uint32_t>(file, format)
: PlyRead<uint8_t>(file, format);
uint32_t indices[4];
for (uint32_t i = 0; i < numIndices; ++i) {
indices[i] = PlyRead<uint32_t>(file, format);
}
switch (numIndices) {
case 3:
mesh->m_indices.push_back(indices[0]);
mesh->m_indices.push_back(indices[1]);
mesh->m_indices.push_back(indices[2]);
break;
case 4:
mesh->m_indices.push_back(indices[0]);
mesh->m_indices.push_back(indices[1]);
mesh->m_indices.push_back(indices[2]);
mesh->m_indices.push_back(indices[2]);
mesh->m_indices.push_back(indices[3]);
mesh->m_indices.push_back(indices[0]);
break;
default:
assert(!"invalid number of indices, only support tris and quads");
break;
};
// calculate vertex normals as we go
Point3 &v0 = mesh->m_positions[indices[0]];
Point3 &v1 = mesh->m_positions[indices[1]];
Point3 &v2 = mesh->m_positions[indices[2]];
Vector3 n =
SafeNormalize(Cross(v1 - v0, v2 - v0), Vector3(0.0f, 1.0f, 0.0f));
for (uint32_t i = 0; i < numIndices; ++i) {
mesh->m_normals[indices[i]] += n;
}
}
for (uint32_t i = 0; i < numVertices; ++i) {
mesh->m_normals[i] =
SafeNormalize(mesh->m_normals[i], Vector3(0.0f, 1.0f, 0.0f));
}
// cout << "Imported mesh " << path << " in " <<
// (GetSeconds()-startTime)*1000.f << "ms" << endl;
return mesh;
}
// map of Material name to Material
struct VertexKey {
VertexKey() : v(0), vt(0), vn(0) {}
uint32_t v, vt, vn;
bool operator==(const VertexKey &rhs) const {
return v == rhs.v && vt == rhs.vt && vn == rhs.vn;
}
bool operator<(const VertexKey &rhs) const {
if (v != rhs.v)
return v < rhs.v;
else if (vt != rhs.vt)
return vt < rhs.vt;
else
return vn < rhs.vn;
}
};
void ImportFromMtlLib(const char *path, std::vector<Material> &materials) {
FILE *f = fopen(path, "r");
const int kMaxLineLength = 1024;
if (f) {
char line[kMaxLineLength];
while (fgets(line, kMaxLineLength, f)) {
char name[kMaxLineLength];
if (sscanf(line, " newmtl %s", name) == 1) {
Material mat;
mat.name = name;
materials.push_back(mat);
}
if (materials.size()) {
Material &mat = materials.back();
sscanf(line, " Ka %f %f %f", &mat.Ka.x, &mat.Ka.y, &mat.Ka.z);
sscanf(line, " Kd %f %f %f", &mat.Kd.x, &mat.Kd.y, &mat.Kd.z);
sscanf(line, " Ks %f %f %f", &mat.Ks.x, &mat.Ks.y, &mat.Ks.z);
sscanf(line, " Ns %f", &mat.Ns);
sscanf(line, " metallic %f", &mat.metallic);
char map[kMaxLineLength];
if (sscanf(line, " map_Kd %s", map) == 1)
mat.mapKd = map;
if (sscanf(line, " map_Ks %s", map) == 1)
mat.mapKs = map;
if (sscanf(line, " map_bump %s", map) == 1)
mat.mapBump = map;
if (sscanf(line, " map_env %s", map) == 1)
mat.mapEnv = map;
}
}
fclose(f);
}
}
Mesh *ImportMeshFromObj(const char *meshPath) {
ifstream file(meshPath);
if (!file)
return nullptr;
Mesh *m = new Mesh();
vector<Point3> positions;
vector<Vector3> normals;
vector<Vector2> texcoords;
vector<Vector3> colors;
vector<uint32_t> &indices = m->m_indices;
// typedef unordered_map<VertexKey, uint32_t, MemoryHash<VertexKey> >
// VertexMap;
typedef map<VertexKey, uint32_t> VertexMap;
VertexMap vertexLookup;
// some scratch memory
const uint32_t kMaxLineLength = 1024;
char buffer[kMaxLineLength];
// double startTime = GetSeconds();
file >> buffer;
while (!file.eof()) {
if (strcmp(buffer, "vn") == 0) {
// normals
float x, y, z;
file >> x >> y >> z;
normals.push_back(Vector3(x, y, z));
} else if (strcmp(buffer, "vt") == 0) {
// texture coords
float u, v;
file >> u >> v;
texcoords.push_back(Vector2(u, v));
} else if (buffer[0] == 'v') {
// positions
float x, y, z;
file >> x >> y >> z;
positions.push_back(Point3(x, y, z));
} else if (buffer[0] == 's' || buffer[0] == 'g' || buffer[0] == 'o') {
// ignore smoothing groups, groups and objects
char linebuf[256];
file.getline(linebuf, 256);
} else if (strcmp(buffer, "mtllib") == 0) {
std::string materialFile;
file >> materialFile;
char materialPath[2048];
MakeRelativePath(meshPath, materialFile.c_str(), materialPath);
ImportFromMtlLib(materialPath, m->m_materials);
} else if (strcmp(buffer, "usemtl") == 0) {
// read Material name, ignored right now
std::string materialName;
file >> materialName;
// if there was a previous assignment then close it
if (m->m_materialAssignments.size())
m->m_materialAssignments.back().endTri = int(indices.size() / 3);
// generate assignment
MaterialAssignment batch;
batch.startTri = int(indices.size() / 3);
batch.material = -1;
for (int i = 0; i < (int)m->m_materials.size(); ++i) {
if (m->m_materials[i].name == materialName) {
batch.material = i;
break;
}
}
if (batch.material == -1)
printf(".obj references material not found in .mtl library, %s\n",
materialName.c_str());
else {
// push back assignment
m->m_materialAssignments.push_back(batch);
}
} else if (buffer[0] == 'f') {
// faces
uint32_t faceIndices[4];
uint32_t faceIndexCount = 0;
for (int i = 0; i < 4; ++i) {
VertexKey key;
file >> key.v;
// failed to read another index continue on
if (file.fail()) {
file.clear();
break;
}
if (file.peek() == '/') {
file.ignore();
if (file.peek() != '/') {
file >> key.vt;
}
if (file.peek() == '/') {
file.ignore();
file >> key.vn;
}
}
// find / add vertex, index
VertexMap::iterator iter = vertexLookup.find(key);
if (iter != vertexLookup.end()) {
faceIndices[faceIndexCount++] = iter->second;
} else {
// add vertex
uint32_t newIndex = uint32_t(m->m_positions.size());
faceIndices[faceIndexCount++] = newIndex;
vertexLookup.insert(make_pair(key, newIndex));
// push back vertex data
assert(key.v > 0);
m->m_positions.push_back(positions[key.v - 1]);
// obj format doesn't support mesh colours so add default value
m->m_colours.push_back(Colour(1.0f, 1.0f, 1.0f));
// normal
if (key.vn) {
m->m_normals.push_back(normals[key.vn - 1]);
} else {
m->m_normals.push_back(0.0f);
}
// texcoord
if (key.vt) {
m->m_texcoords.push_back(texcoords[key.vt - 1]);
} else {
m->m_texcoords.push_back(0.0f);
}
}
}
if (faceIndexCount < 3) {
cout << "File contains face(s) with less than 3 vertices" << endl;
} else if (faceIndexCount == 3) {
// a triangle
indices.insert(indices.end(), faceIndices, faceIndices + 3);
} else if (faceIndexCount == 4) {
// a quad, triangulate clockwise
indices.insert(indices.end(), faceIndices, faceIndices + 3);
indices.push_back(faceIndices[2]);
indices.push_back(faceIndices[3]);
indices.push_back(faceIndices[0]);
} else {
cout << "Face with more than 4 vertices are not supported" << endl;
}
} else if (buffer[0] == '#') {
// comment
char linebuf[256];
file.getline(linebuf, 256);
}
file >> buffer;
}
// calculate normals if none specified in file
m->m_normals.resize(m->m_positions.size());
const uint32_t numFaces = uint32_t(indices.size()) / 3;
for (uint32_t i = 0; i < numFaces; ++i) {
uint32_t a = indices[i * 3 + 0];
uint32_t b = indices[i * 3 + 1];
uint32_t c = indices[i * 3 + 2];
Point3 &v0 = m->m_positions[a];
Point3 &v1 = m->m_positions[b];
Point3 &v2 = m->m_positions[c];
Vector3 n =
SafeNormalize(Cross(v1 - v0, v2 - v0), Vector3(0.0f, 1.0f, 0.0f));
m->m_normals[a] += n;
m->m_normals[b] += n;
m->m_normals[c] += n;
}
for (uint32_t i = 0; i < m->m_normals.size(); ++i) {
m->m_normals[i] = SafeNormalize(m->m_normals[i], Vector3(0.0f, 1.0f, 0.0f));
}
// close final material assignment
if (m->m_materialAssignments.size())
m->m_materialAssignments.back().endTri = int(indices.size()) / 3;
// cout << "Imported mesh " << meshPath << " in " <<
// (GetSeconds()-startTime)*1000.f << "ms" << endl;
return m;
}
void ExportToObj(const char *path, const Mesh &m) {
ofstream file(path);
if (!file)
return;
file << "# positions" << endl;
for (uint32_t i = 0; i < m.m_positions.size(); ++i) {
Point3 v = m.m_positions[i];
file << "v " << v.x << " " << v.y << " " << v.z << endl;
}
file << "# texcoords" << endl;
for (uint32_t i = 0; i < m.m_texcoords.size(); ++i) {
Vec2 t = m.m_texcoords[0][i];
file << "vt " << t.x << " " << t.y << endl;
}
file << "# normals" << endl;
for (uint32_t i = 0; i < m.m_normals.size(); ++i) {
Vec3 n = m.m_normals[0][i];
file << "vn " << n.x << " " << n.y << " " << n.z << endl;
}
file << "# faces" << endl;
for (uint32_t i = 0; i < m.m_indices.size() / 3; ++i) {
// uint32_t j = i+1;
// no sharing, assumes there is a unique position, texcoord and normal for
// each vertex
file << "f " << m.m_indices[i * 3] + 1 << " " << m.m_indices[i * 3 + 1] + 1
<< " " << m.m_indices[i * 3 + 2] + 1 << endl;
}
}
Mesh *ImportMeshFromStl(const char *path) {
// double start = GetSeconds();
FILE *f = fopen(path, "rb");
if (f) {
char header[80];
fread(header, 80, 1, f);
int numTriangles;
fread(&numTriangles, sizeof(int), 1, f);
Mesh *m = new Mesh();
m->m_positions.resize(numTriangles * 3);
m->m_normals.resize(numTriangles * 3);
m->m_indices.resize(numTriangles * 3);
Point3 *vertexPtr = m->m_positions.data();
Vector3 *normalPtr = m->m_normals.data();
uint32_t *indexPtr = m->m_indices.data();
for (int t = 0; t < numTriangles; ++t) {
Vector3 n;
Point3 v0, v1, v2;
uint16_t attributeByteCount;
fread(&n, sizeof(Vector3), 1, f);
fread(&v0, sizeof(Point3), 1, f);
fread(&v1, sizeof(Point3), 1, f);
fread(&v2, sizeof(Point3), 1, f);
fread(&attributeByteCount, sizeof(uint16_t), 1, f);
*(normalPtr++) = n;
*(normalPtr++) = n;
*(normalPtr++) = n;
*(vertexPtr++) = v0;
*(vertexPtr++) = v1;
*(vertexPtr++) = v2;
*(indexPtr++) = t * 3 + 0;
*(indexPtr++) = t * 3 + 1;
*(indexPtr++) = t * 3 + 2;
}
fclose(f);
// double end = GetSeconds();
// printf("Imported mesh %s in %f ms\n", path, (end - start) * 1000.0f);
return m;
}
return nullptr;
}
void Mesh::AddMesh(const Mesh &m) {
uint32_t offset = uint32_t(m_positions.size());
// add new vertices
m_positions.insert(m_positions.end(), m.m_positions.begin(),
m.m_positions.end());
m_normals.insert(m_normals.end(), m.m_normals.begin(), m.m_normals.end());
m_colours.insert(m_colours.end(), m.m_colours.begin(), m.m_colours.end());
// add new indices with offset
for (uint32_t i = 0; i < m.m_indices.size(); ++i) {
m_indices.push_back(m.m_indices[i] + offset);
}
}
void Mesh::Flip() {
for (int i = 0; i < int(GetNumFaces()); ++i) {
swap(m_indices[i * 3 + 0], m_indices[i * 3 + 1]);
}
for (int i = 0; i < (int)m_normals.size(); ++i)
m_normals[i] *= -1.0f;
}
void Mesh::Transform(const Matrix44 &m) {
for (uint32_t i = 0; i < m_positions.size(); ++i) {
m_positions[i] = m * m_positions[i];
m_normals[i] = m * m_normals[i];
}
}
void Mesh::GetBounds(Vector3 &outMinExtents, Vector3 &outMaxExtents) const {
Point3 minExtents(FLT_MAX);
Point3 maxExtents(-FLT_MAX);
// calculate face bounds
for (uint32_t i = 0; i < m_positions.size(); ++i) {
const Point3 &a = m_positions[i];
minExtents = Min(a, minExtents);
maxExtents = Max(a, maxExtents);
}
outMinExtents = Vector3(minExtents);
outMaxExtents = Vector3(maxExtents);
}
Mesh *CreateTriMesh(float size, float y) {
uint32_t indices[] = {0, 1, 2};
Point3 positions[3];
Vector3 normals[3];
positions[0] = Point3(-size, y, size);
positions[1] = Point3(size, y, size);
positions[2] = Point3(size, y, -size);
normals[0] = Vector3(0.0f, 1.0f, 0.0f);
normals[1] = Vector3(0.0f, 1.0f, 0.0f);
normals[2] = Vector3(0.0f, 1.0f, 0.0f);
Mesh *m = new Mesh();
m->m_indices.insert(m->m_indices.begin(), indices, indices + 3);
m->m_positions.insert(m->m_positions.begin(), positions, positions + 3);
m->m_normals.insert(m->m_normals.begin(), normals, normals + 3);
return m;
}
Mesh *CreateCubeMesh() {
const Point3 vertices[24] = {
Point3(0.5, 0.5, 0.5), Point3(-0.5, 0.5, 0.5),
Point3(0.5, -0.5, 0.5), Point3(-0.5, -0.5, 0.5),
Point3(0.5, 0.5, -0.5), Point3(-0.5, 0.5, -0.5),
Point3(0.5, -0.5, -0.5), Point3(-0.5, -0.5, -0.5),
Point3(0.5, 0.5, 0.5), Point3(0.5, -0.5, 0.5),
Point3(0.5, 0.5, 0.5), Point3(0.5, 0.5, -0.5),
Point3(-0.5, 0.5, 0.5), Point3(-0.5, 0.5, -0.5),
Point3(0.5, -0.5, -0.5), Point3(0.5, 0.5, -0.5),
Point3(-0.5, -0.5, -0.5), Point3(0.5, -0.5, -0.5),
Point3(-0.5, -0.5, 0.5), Point3(0.5, -0.5, 0.5),
Point3(-0.5, -0.5, -0.5), Point3(-0.5, -0.5, 0.5),
Point3(-0.5, 0.5, -0.5), Point3(-0.5, 0.5, 0.5)};
const Vec3 normals[24] = {Vec3(0.0f, 0.0f, 1.0f), Vec3(0.0f, 0.0f, 1.0f),
Vec3(0.0f, 0.0f, 1.0f), Vec3(0.0f, 0.0f, 1.0f),
Vec3(1.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f),
Vec3(1.0f, 0.0f, 0.0f), Vec3(0.0f, 0.0f, -1.0f),
Vec3(1.0f, 0.0f, 0.0f), Vec3(1.0f, 0.0f, 0.0f),
Vec3(0.0f, 1.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f),
Vec3(0.0f, 1.0f, 0.0f), Vec3(0.0f, 0.0f, -1.0f),
Vec3(0.0f, 0.0f, -1.0f), Vec3(-0.0f, -0.0f, -1.0f),
Vec3(0.0f, -1.0f, 0.0f), Vec3(0.0f, -1.0f, 0.0f),
Vec3(0.0f, -1.0f, 0.0f), Vec3(-0.0f, -1.0f, -0.0f),
Vec3(-1.0f, 0.0f, 0.0f), Vec3(-1.0f, 0.0f, 0.0f),
Vec3(-1.0f, 0.0f, 0.0f), Vec3(-1.0f, -0.0f, -0.0f)};
const int indices[36] = {0, 1, 2, 3, 2, 1, 8, 9, 4, 6, 4, 9,
10, 11, 12, 5, 12, 11, 7, 13, 14, 15, 14, 13,
16, 17, 18, 19, 18, 17, 20, 21, 22, 23, 22, 21};
Mesh *m = new Mesh();
m->m_positions.assign(vertices, vertices + 24);
m->m_normals.assign(normals, normals + 24);
m->m_indices.assign(indices, indices + 36);
return m;
}
Mesh *CreateQuadMesh(float sizex, float sizez, int gridx, int gridz) {
Mesh *m = new Mesh();
float cellx = sizex / gridz;
float cellz = sizez / gridz;
Vec3 start = Vec3(-sizex, 0.0f, sizez) * 0.5f;
for (int z = 0; z <= gridz; ++z) {
for (int x = 0; x <= gridx; ++x) {
Point3 p = Point3(cellx * x, 0.0f, -cellz * z) + start;
m->m_positions.push_back(p);
m->m_normals.push_back(Vec3(0.0f, 1.0f, 0.0f));
m->m_texcoords.push_back(Vec2(float(x) / gridx, float(z) / gridz));
if (z > 0 && x > 0) {
int index = int(m->m_positions.size()) - 1;
m->m_indices.push_back(index);
m->m_indices.push_back(index - 1);
m->m_indices.push_back(index - gridx - 1);
m->m_indices.push_back(index - 1);
m->m_indices.push_back(index - 1 - gridx - 1);
m->m_indices.push_back(index - gridx - 1);
}
}
}
return m;
}
Mesh *CreateDiscMesh(float radius, uint32_t segments) {
const uint32_t numVerts = 1 + segments;
Mesh *m = new Mesh();
m->m_positions.resize(numVerts);
m->m_normals.resize(numVerts, Vec3(0.0f, 1.0f, 0.0f));
m->m_positions[0] = Point3(0.0f);
m->m_positions[1] = Point3(0.0f, 0.0f, radius);
for (uint32_t i = 1; i <= segments; ++i) {
uint32_t nextVert = (i + 1) % numVerts;
if (nextVert == 0)
nextVert = 1;
m->m_positions[nextVert] =
Point3(radius * Sin((float(i) / segments) * k2Pi), 0.0f,
radius * Cos((float(i) / segments) * k2Pi));
m->m_indices.push_back(0);
m->m_indices.push_back(i);
m->m_indices.push_back(nextVert);
}
return m;
}
Mesh *CreateTetrahedron(float ground, float height) {
Mesh *m = new Mesh();
const float dimValue = 1.0f / sqrtf(2.0f);
const Point3 vertices[4] = {
Point3(-1.0f, ground, -dimValue), Point3(1.0f, ground, -dimValue),
Point3(0.0f, ground + height, dimValue), Point3(0.0f, ground, dimValue)};
const int indices[12] = {// winding order is counter-clockwise
0, 2, 1, 2, 3, 1, 2, 0, 3, 3, 0, 1};
m->m_positions.assign(vertices, vertices + 4);
m->m_indices.assign(indices, indices + 12);
m->CalculateNormals();
return m;
}
Mesh *CreateCylinder(int slices, float radius, float halfHeight, bool cap) {
Mesh *mesh = new Mesh();
for (int i = 0; i <= slices; ++i) {
float theta = (k2Pi / slices) * i;
Vec3 p = Vec3(sinf(theta), 0.0f, cosf(theta));
Vec3 n = p;
mesh->m_positions.push_back(
Point3(p * radius - Vec3(0.0f, halfHeight, 0.0f)));
mesh->m_positions.push_back(
Point3(p * radius + Vec3(0.0f, halfHeight, 0.0f)));
mesh->m_normals.push_back(n);
mesh->m_normals.push_back(n);
mesh->m_texcoords.push_back(Vec2(2.0f * float(i) / slices, 0.0f));
mesh->m_texcoords.push_back(Vec2(2.0f * float(i) / slices, 1.0f));
if (i > 0) {
int a = (i - 1) * 2 + 0;
int b = (i - 1) * 2 + 1;
int c = i * 2 + 0;
int d = i * 2 + 1;
// quad between last two vertices and these two
mesh->m_indices.push_back(a);
mesh->m_indices.push_back(c);
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(c);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(b);
}
}
if (cap) {
// Create cap
int st = int(mesh->m_positions.size());
mesh->m_positions.push_back(-Point3(0.0f, halfHeight, 0.0f));
mesh->m_texcoords.push_back(Vec2(0.0f, 0.0f));
mesh->m_normals.push_back(-Vec3(0.0f, 1.0f, 0.0f));
for (int i = 0; i <= slices; ++i) {
float theta = -(k2Pi / slices) * i;
Vec3 p = Vec3(sinf(theta), 0.0f, cosf(theta));
mesh->m_positions.push_back(
Point3(p * radius - Vec3(0.0f, halfHeight, 0.0f)));
mesh->m_normals.push_back(-Vec3(0.0f, 1.0f, 0.0f));
mesh->m_texcoords.push_back(Vec2(2.0f * float(i) / slices, 0.0f));
if (i > 0) {
mesh->m_indices.push_back(st);
mesh->m_indices.push_back(st + 1 + i - 1);
mesh->m_indices.push_back(st + 1 + i % slices);
}
}
st = int(mesh->m_positions.size());
mesh->m_positions.push_back(Point3(0.0f, halfHeight, 0.0f));
mesh->m_texcoords.push_back(Vec2(0.0f, 0.0f));
mesh->m_normals.push_back(Vec3(0.0f, 1.0f, 0.0f));
for (int i = 0; i <= slices; ++i) {
float theta = (k2Pi / slices) * i;
Vec3 p = Vec3(sinf(theta), 0.0f, cosf(theta));
mesh->m_positions.push_back(
Point3(p * radius + Vec3(0.0f, halfHeight, 0.0f)));
mesh->m_normals.push_back(Vec3(0.0f, 1.0f, 0.0f));
mesh->m_texcoords.push_back(Vec2(2.0f * float(i) / slices, 0.0f));
if (i > 0) {
mesh->m_indices.push_back(st);
mesh->m_indices.push_back(st + 1 + i - 1);
mesh->m_indices.push_back(st + 1 + i % slices);
}
}
}
return mesh;
}
Mesh *CreateSphere(int slices, int segments, float radius) {
float dTheta = kPi / slices;
float dPhi = k2Pi / segments;
int vertsPerRow = segments + 1;
Mesh *mesh = new Mesh();
for (int i = 0; i <= slices; ++i) {
for (int j = 0; j <= segments; ++j) {
float u = float(i) / slices;
float v = float(j) / segments;
float theta = dTheta * i;
float phi = dPhi * j;
float x = sinf(theta) * cosf(phi);
float y = cosf(theta);
float z = sinf(theta) * sinf(phi);
mesh->m_positions.push_back(Point3(x, y, z) * radius);
mesh->m_normals.push_back(Vec3(x, y, z));
mesh->m_texcoords.push_back(Vec2(u, v));
if (i > 0 && j > 0) {
int a = i * vertsPerRow + j;
int b = (i - 1) * vertsPerRow + j;
int c = (i - 1) * vertsPerRow + j - 1;
int d = i * vertsPerRow + j - 1;
// add a quad for this slice
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(a);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(c);
}
}
}
return mesh;
}
Mesh *CreateEllipsoid(int slices, int segments, Vec3 radiis) {
float dTheta = kPi / slices;
float dPhi = k2Pi / segments;
int vertsPerRow = segments + 1;
Mesh *mesh = new Mesh();
for (int i = 0; i <= slices; ++i) {
for (int j = 0; j <= segments; ++j) {
float u = float(i) / slices;
float v = float(j) / segments;
float theta = dTheta * i;
float phi = dPhi * j;
float x = sinf(theta) * cosf(phi);
float y = cosf(theta);
float z = sinf(theta) * sinf(phi);
mesh->m_positions.push_back(
Point3(x * radiis.x, y * radiis.y, z * radiis.z));
mesh->m_normals.push_back(
Normalize(Vec3(x / radiis.x, y / radiis.y, z / radiis.z)));
mesh->m_texcoords.push_back(Vec2(u, v));
if (i > 0 && j > 0) {
int a = i * vertsPerRow + j;
int b = (i - 1) * vertsPerRow + j;
int c = (i - 1) * vertsPerRow + j - 1;
int d = i * vertsPerRow + j - 1;
// add a quad for this slice
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(a);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(c);
}
}
}
return mesh;
}
Mesh *CreateCapsule(int slices, int segments, float radius, float halfHeight) {
float dTheta = kPi / (slices * 2);
float dPhi = k2Pi / segments;
int vertsPerRow = segments + 1;
Mesh *mesh = new Mesh();
float theta = 0.0f;
for (int i = 0; i <= 2 * slices + 1; ++i) {
for (int j = 0; j <= segments; ++j) {
float phi = dPhi * j;
float x = sinf(theta) * cosf(phi);
float y = cosf(theta);
float z = sinf(theta) * sinf(phi);
// add y offset based on which hemisphere we're in
float yoffset = (i < slices) ? halfHeight : -halfHeight;
Point3 p = Point3(x, y, z) * radius + Vec3(0.0f, yoffset, 0.0f);
float u = float(j) / segments;
float v = (halfHeight + radius + float(p.y)) / fabsf(halfHeight + radius);
mesh->m_positions.push_back(p);
mesh->m_normals.push_back(Vec3(x, y, z));
mesh->m_texcoords.push_back(Vec2(u, v));
if (i > 0 && j > 0) {
int a = i * vertsPerRow + j;
int b = (i - 1) * vertsPerRow + j;
int c = (i - 1) * vertsPerRow + j - 1;
int d = i * vertsPerRow + j - 1;
// add a quad for this slice
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(a);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(b);
mesh->m_indices.push_back(d);
mesh->m_indices.push_back(c);
}
}
// don't update theta for the middle slice
if (i != slices)
theta += dTheta;
}
return mesh;
}
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/plugins/utils/Path.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// clang-format off
#include "../UsdPCH.h"
// clang-format on
#include <OmniClient.h>
#include <carb/logging/Log.h>
#include <string>
namespace omni {
namespace isaac {
namespace utils {
namespace path {
inline std::string normalizeUrl(const char *url) {
std::string ret;
char stringBuffer[1024];
std::unique_ptr<char[]> stringBufferHeap;
size_t bufferSize = sizeof(stringBuffer);
const char *normalizedUrl =
omniClientNormalizeUrl(url, stringBuffer, &bufferSize);
if (!normalizedUrl) {
stringBufferHeap = std::unique_ptr<char[]>(new char[bufferSize]);
normalizedUrl =
omniClientNormalizeUrl(url, stringBufferHeap.get(), &bufferSize);
if (!normalizedUrl) {
normalizedUrl = "";
CARB_LOG_ERROR("Cannot normalize %s", url);
}
}
ret = normalizedUrl;
for (auto &c : ret) {
if (c == '\\') {
c = '/';
}
}
return ret;
}
std::string resolve_absolute(std::string parent, std::string relative) {
size_t bufferSize = parent.size() + relative.size();
std::unique_ptr<char[]> stringBuffer =
std::unique_ptr<char[]>(new char[bufferSize]);
std::string combined_url = normalizeUrl((parent + "/" + relative).c_str());
return combined_url;
}
} // namespace path
} // namespace utils
} // namespace isaac
} // namespace omni
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/docs/CHANGELOG.md | # Changelog
## [1.1.0] - 2023-10-03
### Changed
- Structural and packaging changes
## [1.0.1] - 2023-07-07
### Added
- Support for `autolimits` compiler setting for joints
## [1.0.0] - 2023-06-13
### Changed
- Renamed the extension to omni.importer.mjcf
- Published the extension to the default registry
## [0.5.0] - 2023-05-09
### Added
- Support for ball and free joint
- Support for `<freejoint>` tag
- Support for plane geom type
- Support for intrinsic Euler sequences
### Changed
- Default value for fix_base is now false
- Root bodies no longer have their translation automatically set to the origin
- Visualize collision geom option now sets collision geom's visibility to invisible
- Change prim hierarchy to support multiple world body level prims
### Fixed
- Fix support for full inertia matrix
- Fix collision geom for ellipsoid prim
- Fix zaxis orientation parsing
- Fix 2D texture by enabling UVW projection
## [0.4.1] - 2023-05-02
### Added
- High level code overview in README.md
## [0.4.0] - 2023-03-27
### Added
- Support for sites and spatial tendons
- Support for specifying mesh root directory
## [0.3.1] - 2023-01-06
### Fixed
- onclick_fn warning when creating UI
## [0.3.0] - 2022-10-13
### Added
- Added material and texture support
## [0.2.3] - 2022-09-07
### Fixed
- Fixes for kit 103.5
## [0.2.2] - 2022-07-21
### Added
- Add armature to joints
## [0.2.1] - 2022-07-21
### Fixed
- Display Bookmarks when selecting files
## [0.2.0] - 2022-06-30
### Added
- Add instanceable option to importer
## [0.1.3] - 2022-05-17
### Added
- Add joint values API
## [0.1.2] - 2022-05-10
### Changed
- Collision filtering now uses filteredPairsAPI instead of collision groups
- Adding tendons no longer has limitations on the number of joints per tendon and the order of the joints
## [0.1.1] - 2022-04-14
### Added
- Joint name annotation USD attribute for preserving joint names
### Fixed
- Correctly parse distance scaling from UI
## [0.1.0] - 2022-02-07
### Added
- Initial version of MJCF importer extension
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/docs/index.rst | MJCF Importer Extension [omni.importer.mjcf]
############################################
MJCF Import Commands
====================
The following commands can be used to simplify the import process.
Below is a sample demonstrating how to import the Ant MJCF included with this extension
.. code-block:: python
:linenos:
import omni.kit.commands
from pxr import UsdLux, Sdf, Gf, UsdPhysics, PhysicsSchemaTools
# setting up import configuration:
status, import_config = omni.kit.commands.execute("MJCFCreateImportConfig")
import_config.set_fix_base(True)
import_config.set_import_inertia_tensor(True)
# Get path to extension data:
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("omni.importer.mjcf")
extension_path = ext_manager.get_extension_path(ext_id)
# import MJCF
omni.kit.commands.execute(
"MJCFCreateAsset",
mjcf_path=extension_path + "/data/mjcf/nv_ant.xml",
import_config=import_config,
prim_path="/ant"
)
# get stage handle
stage = omni.usd.get_context().get_stage()
# enable physics
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
# set gravity
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
# add lighting
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
.. automodule:: omni.importer.mjcf.scripts.commands
:members:
:undoc-members:
:exclude-members: do, undo
.. automodule:: omni.importer.mjcf._mjcf
.. autoclass:: omni.importer.mjcf._mjcf.Mjcf
:members:
:undoc-members:
:no-show-inheritance:
.. autoclass:: omni.importer.mjcf._mjcf.ImportConfig
:members:
:undoc-members:
:no-show-inheritance:
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/docs/Overview.md | # Usage
To enable this extension, go to the Extension Manager menu and enable omni.importer.mjcf extension.
# High Level Code Overview
## Python
The `MJCF Importer` extension sets attributes of `ImportConfig` on initialization,
along with the UI giving the user options to change certain attributes, such as `set_fix_base`.
The complete list of configs can be found in `bindings/BindingsMjcfPython.cpp`.
In `python/scripts/commands.py`, `MJCFCreateAsset` defines a command that takes
in `ImportConfig` and file path/usd path related to the desired MJCF file to import;
it then calls `self._mjcf_interface.create_asset_mjcf`, which binds to
the C++ function `createAssetFromMJCF` in `plugins/Mjcf.cpp`.
## C++
`plugins/Mjcf.cpp` contains the `createAssetFromMJCF` function, which is the entry
point to parsing the MJCF file and converting it to a USD file. In this function, it
initializes the `MJCFImporter` class from `plugins/MJCFImporter.cpp` which parses the MJCF file,
sets up a UsdStage in accordance with the import config settings, creates the parsed entities
to the stage via `MJCFImporter::AddPhysicsEntities`, and saves the stage if specified in the config.
Upon initialization of the `MJFImporter` class, it parses the given MJCF file by mainly utilziing
functions from `plugins/MjcfParser.cpp` as follows:
- Initializes various buffers to contain bodies, actuators, tendons, etc.
- Calls `LoadFile`, which parses the xml file using tinyxml2 and returns the root element.
- Calls `LoadInclude`, which parses any xml file referenced using the `<include filename='...'>` tag
- Calls `LoadGlobals`, which performs the majority of the parsing by saving all bodies, actuators,
tendons, contact pairs, etc. and their associated settings into classes (defined in `plugins/MjcfTypes.h`)
to be converted into USD assets later on. Details of this function are described in a seperate section below.
- Calls `populateBodyLookup` recursively to go through all bodies in the kinematic tree and populates `nameToBody`,
which maps from the body name to its `MJCFBody`. It also records all the geometries that participate in collision in `geomNameToIdx` and `collisionGeoms`, which are used to populate a contact graph later on.
- Calls `computeKinematicHierarchy`, which runs breadth-first search on the kinematic tree to determine the depth
of each body on the kinematic tree. For instance, the root body has a depth of 0 and its children have a depth of 1, etc.
This information is used to determine the parent-child relationship of the bodies, which is used later on when importing
tendons to USD.
- Calls `createContactGraph` to populate a graph where each node represents a body that participates in collisions and its
neighboring nodes are the bodies that it can collide with.
`LoadGlobals` from `plugins/MjcfParser.cpp`:
- Calls `LoadCompiler`, which saves settings defined in the `<compiler>` tag into the `MJCFCompiler` class.
`MJCFCompiler` contains attributes such as the unit of measurement of angles (rad/deg), the mesh directory
path, the Euler rotation sequence (xyz/zyx/etc.).
- Parses the `<default>` tags, which calls `LoadDefault` and saves settings for bodies, actuators, tendons,
etc into an `MJCFClass` for each default tag. Note that `LoadDefault` is recursively called to deal with
nested `<default>` tags.
- Calls `LoadAssets`, which saves data regarding meshes and textures into the `MJCFMesh` and `MJCFTexture` classes respectively.
- Finds the `<worldbody>` tag, which defines the origin of the world frame within which the rest of the kinematic tree is defined. From there, it calls `LoadInclude` to load any included file and then calls `LoadBody` recursively
to save data regarding the kinematic tree into the `MJCFBody` class. It also calls `LoadGeom` and `LoadSite`. Note that the `MJCFBody` class contains the following attributes: name, pose, inertial, a list of geometries (`MJCFGeom`), a list of joints that attaches to the body (`MJCFJoint`), and a list of child bodies.
- Calls `LoadActuator` for all the `<actuator>` tags. For each actuator, there is an assoicated joint, which is saved in the `jointToActuatorIdx` map.
- Calls `LoadTendon` for all the `<tendon>` tags, which saves data regarding each tendon into `MJCFTendon` classes. For each fixed tendon, `MJCFTendon` contains a list of joints that the tendon is attached to. For each spatial tendon, `MJCFTendon` contains a list of spatial attachements, pulleys, and branches.
- Calls `LoadContact` to parse contact pairs and contact exclusions into the `MJCFContact` class.
`MJCFImporter::AddPhysicsEntities` adds all the parsed entities to the stage by mainly utilizing functions
from `plugins/MjcfUsd.cpp` as follows:
- Calls `setStageMetadata`, which sets up the UsdPhysicsScene
- Calls `createRoot` which defines the robot's root USD prim. Will also make this prim the default prim if
makeDefaultPrim is set to true in the import config.
- Handles making the imported USD instanceable if desired in the import config. For more information regarding instanceable assets, please visit https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html
- For each body, calls `CreatePhysicsBodyAndJoint` recursively, which imports the kinematic tree onto the USD stage.
- Calls `addWorldGeomsAndSites`, which creates dummy links to place the sites/geoms defined in the world body
- Calls `AddContactFilters`, which adds collisions between the prims in accordance with the contact graph.
- Calls `AddTendons` to add all the fixed and spatial tendons.
|
NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/data/mjcf/nv_ant.xml | <mujoco model="ant">
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="0.01" damping="0.1" limited="true"/>
<geom condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.97 0.38 0.06 1"/>
</default>
<compiler inertiafromgeom="true" angle="degree"/>
<option timestep="0.016" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
<size nconmax="50" njmax="200" nstack="10000"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<global offwidth="800" offheight="800"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 0" size="1 1 .25" type="plane" material="matplane" condim="3"/>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
<light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
<body name="torso" pos="0 0 0.75">
<freejoint name="root"/>
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".999 .2 .02 1"/>
<body name="front_left_leg" pos="0.2 0.2 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
<body pos="0.2 0.2 0" name="front_left_foot">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
</body>
</body>
<body name="front_right_leg" pos="-0.2 0.2 0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 0.2 0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
<body name="left_back_leg" pos="-0.2 -0.2 0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 -0.2 0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
<body name="right_back_leg" pos="0.2 -0.2 0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
<body pos="0.2 -0.2 0" name="right_back_foot">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="15"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="15"/>
</actuator>
</mujoco>
|
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