Support for nested bodies in parsing and mass computed #3827
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Filed as internal issue #USD-11475 (This is an automated message. See here for more information.) |
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Thanks @AlesBorovicka , I have checked the PR in internally and will be available in the next dev push. |
pixar-oss
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Oct 3, 2025
These changes relate to PixarAnimationStudios/OpenUSD-proposals#82 and should be merged after (or along with) #3827. Between these 2 PRs, and the internal change ff68c36 I believe we have completed the proposal. Here I have: - Enabled articulations on kinematic bodies (e.g. mocap driven articulations) - One slight difference from the proposal; I did not implement the intricate logic about partially simulated articulations. I was advised that this concept isn't in-scope for the upcoming spec, so thought it better to leave out of the implementation as the simpler approach implemented here is all that is strictly required. - Added a MassAPI validator - This wasn't called for explicitly in the proposal, but as the logic around mass is even more complex now, it seemed better to have one. - Updated the schema and overview docs to allow for nested bodies - Added a new nested articulation example (see screenshot below) - Fixed a broken filepath in the existing BoxOnBox example (see screenshot below) _Nested articulation example loaded in a reduced coordinate simulator_ <img width="625" height="584" alt="image" src="https://github.com/user-attachments/assets/f8f10cbe-465f-42ba-8dd8-2b83691f85b3" /> _Current example is broken_ <img width="838" height="164" alt="image" src="https://github.com/user-attachments/assets/1e20765c-29a4-4a8e-b301-f6d5a8d54de6" /> Closes #3828 (Internal change: 2380365)
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Description of Change(s)
Link to proposal (if applicable)
Fixes Issue(s)
Checklist
[ x] I have created this PR based on the dev branch
[x ] I have followed the coding conventions
[x ] I have added unit tests that exercise this functionality (Reference:
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[ x] I have verified that all unit tests pass with the proposed changes
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