data/src/experimental/usd/mjcPhysics/keyframe.cpp

// Copyright 2025 DeepMind Technologies Limited
//
// 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 <mujoco/experimental/usd/mjcPhysics/keyframe.h>

#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/types.h>
#include <pxr/usd/usd/schemaRegistry.h>
#include <pxr/usd/usd/typed.h>

PXR_NAMESPACE_OPEN_SCOPE

// Register the schema with the TfType system.
TF_REGISTRY_FUNCTION(TfType) {
  TfType::Define<MjcPhysicsKeyframe, TfType::Bases<UsdTyped> >();

  // Register the usd prim typename as an alias under UsdSchemaBase. This
  // enables one to call
  // TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcKeyframe")
  // to find TfType<MjcPhysicsKeyframe>, which is how IsA queries are
  // answered.
  TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("MjcKeyframe");
}

/* virtual */
MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {}

/* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage,
                                           const SdfPath &path) {
  if (!stage) {
    TF_CODING_ERROR("Invalid stage");
    return MjcPhysicsKeyframe();
  }
  return MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
}

/* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr &stage,
                                              const SdfPath &path) {
  static TfToken usdPrimTypeName("MjcKeyframe");
  if (!stage) {
    TF_CODING_ERROR("Invalid stage");
    return MjcPhysicsKeyframe();
  }
  return MjcPhysicsKeyframe(stage->DefinePrim(path, usdPrimTypeName));
}

/* virtual */
UsdSchemaKind MjcPhysicsKeyframe::_GetSchemaKind() const {
  return MjcPhysicsKeyframe::schemaKind;
}

/* static */
const TfType &MjcPhysicsKeyframe::_GetStaticTfType() {
  static TfType tfType = TfType::Find<MjcPhysicsKeyframe>();
  return tfType;
}

/* static */
bool MjcPhysicsKeyframe::_IsTypedSchema() {
  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
  return isTyped;
}

/* virtual */
const TfType &MjcPhysicsKeyframe::_GetTfType() const {
  return _GetStaticTfType();
}

UsdAttribute MjcPhysicsKeyframe::GetMjcQposAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const &defaultValue,
                                                   bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

UsdAttribute MjcPhysicsKeyframe::GetMjcQvelAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const &defaultValue,
                                                   bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

UsdAttribute MjcPhysicsKeyframe::GetMjcActAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const &defaultValue,
                                                  bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

UsdAttribute MjcPhysicsKeyframe::GetMjcCtrlAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const &defaultValue,
                                                   bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

UsdAttribute MjcPhysicsKeyframe::GetMjcMposAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const &defaultValue,
                                                   bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

UsdAttribute MjcPhysicsKeyframe::GetMjcMquatAttr() const {
  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat);
}

UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const &defaultValue,
                                                    bool writeSparsely) const {
  return UsdSchemaBase::_CreateAttr(
      MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray,
      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}

namespace {
static inline TfTokenVector _ConcatenateAttributeNames(
    const TfTokenVector &left, const TfTokenVector &right) {
  TfTokenVector result;
  result.reserve(left.size() + right.size());
  result.insert(result.end(), left.begin(), left.end());
  result.insert(result.end(), right.begin(), right.end());
  return result;
}
}  // namespace

/*static*/
const TfTokenVector &MjcPhysicsKeyframe::GetSchemaAttributeNames(
    bool includeInherited) {
  static TfTokenVector localNames = {
      MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel,
      MjcPhysicsTokens->mjcAct,  MjcPhysicsTokens->mjcCtrl,
      MjcPhysicsTokens->mjcMpos, MjcPhysicsTokens->mjcMquat,
  };
  static TfTokenVector allNames = _ConcatenateAttributeNames(
      UsdTyped::GetSchemaAttributeNames(true), localNames);

  if (includeInherited)
    return allNames;
  else
    return localNames;
}

PXR_NAMESPACE_CLOSE_SCOPE

// ===================================================================== //
// Feel free to add custom code below this line. It will be preserved by
// the code generator.
//
// Just remember to wrap code in the appropriate delimiters:
// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--