usd2msd 0.8.0__py3-none-any.whl

usd2msd/__init__.py

@@ -0,0 +1,31 @@
+# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved.
+#
+# 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 usd2msd.convert import Converter
+
+__all__ = ["Converter"]
+
+
+def register_plugin():
+    from importlib.resources import as_file, files
+
+    from pxr import Plug
+
+    plugin_path = files("usd2msd.assets").joinpath("usd_plugin")
+    with as_file(plugin_path) as path:
+        assert Plug.Registry().RegisterPlugins(str(path.absolute()))
+
+
+register_plugin()

usd2msd/assets/usd_plugin/Physics/generatedSchema.usda

@@ -0,0 +1,16 @@
+#usda 1.0
+(
+  
+)
+
+class "MotrixPhysicsGeomAPI"
+{
+    float motrix:physics:geom:spring_k = 2500.0
+    float motrix:physics:geom:spring_d = 100.0
+    float motrix:physics:geom:impedance_d0 = 0.9
+    float motrix:physics:geom:impedance_dmax = 0.95
+    float motrix:physics:geom:impedance_width = 0.001
+    float motrix:physics:geom:impedance_middle = 0.5
+    float motrix:physics:geom:impedance_power = 2.0
+    int motrix:physics:geom:priority = 20
+}

usd2msd/assets/usd_plugin/physics/generatedSchema.usda

@@ -0,0 +1,16 @@
+#usda 1.0
+(
+  
+)
+
+class "MotrixPhysicsGeomAPI"
+{
+    float motrix:physics:geom:spring_k = 2500.0
+    float motrix:physics:geom:spring_d = 100.0
+    float motrix:physics:geom:impedance_d0 = 0.9
+    float motrix:physics:geom:impedance_dmax = 0.95
+    float motrix:physics:geom:impedance_width = 0.001
+    float motrix:physics:geom:impedance_middle = 0.5
+    float motrix:physics:geom:impedance_power = 2.0
+    int motrix:physics:geom:priority = 20
+}

usd2msd/assets/usd_plugin/plugInfo.json

@@ -0,0 +1,38 @@
+{
+  "Plugins": [
+    {
+      "Info": {
+        "Types": {
+          "MotrixShaderAPI": {
+            "apiSchemaCanOnlyApplyTo": ["UsdShadeShader"],
+            "autoGenerated": false,
+            "bases": ["UsdAPISchemaBase"],
+            "schemaIdentifier": "MotrixShaderAPI",
+            "schemaKind": "singleApplyAPI"
+          }
+        }
+      },
+      "Name": "MotrixShade",
+      "ResourcePath": ".",
+      "Root": "shade",
+      "Type": "resource"
+    },
+    {
+      "Info": {
+        "Types": {
+          "MotrixPhysicsGeomAPI": {
+            "apiSchemaCanOnlyApplyTo": ["GPrim"],
+            "autoGenerated": false,
+            "bases": ["UsdAPISchemaBase"],
+            "schemaIdentifier": "MotrixPhysicsGeomAPI",
+            "schemaKind": "singleApplyAPI"
+          }
+        }
+      },
+      "Name": "MotrixPhysics",
+      "ResourcePath": ".",
+      "Root": "physics",
+      "Type": "resource"
+    }
+  ]
+}

usd2msd/assets/usd_plugin/shade/generatedSchema.usda

@@ -0,0 +1,10 @@
+#usda 1.0
+(
+  
+)
+
+class "MotrixShaderAPI"
+{
+    int motrix:shader:depth_bias = 0
+}
+

usd2msd/common.py

@@ -0,0 +1,131 @@
+# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved.
+#
+# 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 collections.abc import Iterable
+from math import isinf, pi
+from pathlib import Path
+
+import numpy as np
+from numpy.typing import NDArray
+from PIL import Image as pil
+from PIL.Image import Image
+from pxr.Sdf import PropertySpec, Spec
+from pxr.Usd import Prim
+
+import motrixsim.msd as msd
+
+degree2radians = pi / 180
+
+
+def linear_rgb_to_srgb(linear_rgb: NDArray) -> NDArray:
+    """Convert linear RGB values to sRGB space (vectorized).
+
+    USD's default source color space is Linear Rec.709 (lin_rec709_scene).
+    Bevy expects sRGB values for base_color, so we convert linear to sRGB.
+
+    Reference: https://openusd.org/release/user_guides/color_user_guide.html
+    """
+    linear_rgb = np.asarray(linear_rgb)
+    return np.where(
+        linear_rgb <= 0.0031308,
+        linear_rgb * 12.92,
+        1.055 * np.power(linear_rgb, 1.0 / 2.4) - 0.055,
+    )
+
+
+def rgb_append_a(rgb: NDArray) -> NDArray:
+    # Convert from linear to sRGB before storing
+    srgb = linear_rgb_to_srgb(rgb)
+    return np.append(srgb, 1)
+
+
+def tint_brightness_to_rgba(tint: NDArray, brightness: float) -> NDArray:
+    """Combine OmniPBR diffuse_tint and albedo_brightness into RGBA color.
+
+    This is used as the base color multiplier when a diffuse texture is present.
+    Final color = diffuse_texture * diffuse_tint * albedo_brightness
+
+    Color space note:
+    - USD's default source color space is Linear Rec.709 (lin_rec709_scene).
+    - Reference: https://openusd.org/release/user_guides/color_user_guide.html
+    - We convert to sRGB because Bevy expects sRGB values for base_color.
+    """
+    rgb = tint * brightness
+    srgb = linear_rgb_to_srgb(rgb)
+    return np.append(srgb, 1.0)
+
+
+def merge_rgba(rgb: NDArray, alpha: float, enable_opacity: bool) -> NDArray:
+    # Convert from linear to sRGB before storing
+    srgb = linear_rgb_to_srgb(rgb)
+    return np.append(srgb, alpha if enable_opacity else 1)
+
+
+def merge_rgba_texture(rgb: Path | None, alpha: Path | None, enable_opacity: bool) -> Image | Path | None:
+    if enable_opacity:
+        if alpha is not None:
+            alpha_img = pil.open(alpha).convert("L")
+            if rgb is not None:
+                rgba_img = pil.open(rgb).convert("RGB")
+                rgba_img.putalpha(alpha_img)
+                return rgba_img
+            else:
+                rgba_img = pil.new("RGB", alpha_img.size, (255, 255, 255))
+                rgba_img.putalpha(alpha_img)
+                return rgba_img
+        else:
+            return rgb
+    else:
+        return rgb
+
+
+def opacity_threshold2alpha_mode(threshold: float) -> msd.AlphaMode:
+    if threshold >= 1.0:
+        return msd.AlphaMode.opaque()
+    elif threshold > 0.0:
+        return msd.AlphaMode.mask(threshold)
+    else:
+        # Use Opaque instead of Blend when opacity_threshold <= 0.
+        # Blend mode causes incorrect depth sorting with double-sided materials,
+        # resulting in back faces being rendered in front of front faces.
+        return msd.AlphaMode.opaque()
+
+
+def common_parent(paths: Iterable[Path]) -> Path:
+    split_paths = [i.parts for i in paths]
+    common_parts = []
+    for parts in zip(*split_paths):
+        if all(part == parts[0] for part in parts):
+            common_parts.append(parts[0])
+        else:
+            break
+
+    return Path(*common_parts)
+
+
+def inf2None(x: float) -> float | None:
+    if isinf(x):
+        return None
+    return x
+
+
+def last_spec(prim: Prim, prop_names: set[str] | None = None) -> Spec:
+    prim_specs = prim.GetPrimStack()
+    for prim_spec in prim_specs:
+        prop_spec: PropertySpec
+        for prop_spec in prim_spec.properties:
+            if not prop_names or prop_spec.name in prop_names:
+                return prim_spec
+    return prim_specs[-1]