mujoco

// 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.

#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
#define MJCPHYSICS_GENERATED_COLLISIONAPI_H

/// \file mjcPhysics/collisionAPI.h

#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>

PXR_NAMESPACE_OPEN_SCOPE

class SdfAssetPath;

// -------------------------------------------------------------------------- //
// MJCCOLLISIONAPI                                                            //
// -------------------------------------------------------------------------- //

/// \class MjcPhysicsCollisionAPI
///
/// API describing a MuJoCo collider.
///
class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
 public:
  /// Compile time constant representing what kind of schema this class is.
  ///
  /// \sa UsdSchemaKind
  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;

  /// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
  /// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
  /// for a \em valid \p prim, but will not immediately throw an error for
  /// an invalid \p prim
  explicit MjcPhysicsCollisionAPI(const UsdPrim& prim = UsdPrim())
      : UsdAPISchemaBase(prim) {}

  /// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
  /// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
  /// as it preserves SchemaBase state.
  explicit MjcPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
      : UsdAPISchemaBase(schemaObj) {}

  /// Destructor.
  MJCPHYSICS_API
  virtual ~MjcPhysicsCollisionAPI();

  /// Return a vector of names of all pre-declared attributes for this schema
  /// class and all its ancestor classes.  Does not include attributes that
  /// may be authored by custom/extended methods of the schemas involved.
  MJCPHYSICS_API
  static const TfTokenVector& GetSchemaAttributeNames(
      bool includeInherited = true);

  /// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
  /// schema at \p path on \p stage.  If no prim exists at \p path on
  /// \p stage, or if the prim at that path does not adhere to this schema,
  /// return an invalid schema object.  This is shorthand for the following:
  ///
  /// \code
  /// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
  /// \endcode
  ///
  MJCPHYSICS_API
  static MjcPhysicsCollisionAPI Get(const UsdStagePtr& stage,
                                    const SdfPath& path);

  /// Returns true if this <b>single-apply</b> API schema can be applied to
  /// the given \p prim. If this schema can not be a applied to the prim,
  /// this returns false and, if provided, populates \p whyNot with the
  /// reason it can not be applied.
  ///
  /// Note that if CanApply returns false, that does not necessarily imply
  /// that calling Apply will fail. Callers are expected to call CanApply
  /// before calling Apply if they want to ensure that it is valid to
  /// apply a schema.
  ///
  /// \sa UsdPrim::GetAppliedSchemas()
  /// \sa UsdPrim::HasAPI()
  /// \sa UsdPrim::CanApplyAPI()
  /// \sa UsdPrim::ApplyAPI()
  /// \sa UsdPrim::RemoveAPI()
  ///
  MJCPHYSICS_API
  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);

  /// Applies this <b>single-apply</b> API schema to the given \p prim.
  /// This information is stored by adding "MjcCollisionAPI" to the
  /// token-valued, listOp metadata \em apiSchemas on the prim.
  ///
  /// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
  /// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
  /// resulting in failure.
  ///
  /// \sa UsdPrim::GetAppliedSchemas()
  /// \sa UsdPrim::HasAPI()
  /// \sa UsdPrim::CanApplyAPI()
  /// \sa UsdPrim::ApplyAPI()
  /// \sa UsdPrim::RemoveAPI()
  ///
  MJCPHYSICS_API
  static MjcPhysicsCollisionAPI Apply(const UsdPrim& prim);

 protected:
  /// Returns the kind of schema this class belongs to.
  ///
  /// \sa UsdSchemaKind
  MJCPHYSICS_API
  UsdSchemaKind _GetSchemaKind() const override;

 private:
  // needs to invoke _GetStaticTfType.
  friend class UsdSchemaRegistry;
  MJCPHYSICS_API
  static const TfType& _GetStaticTfType();

  static bool _IsTypedSchema();

  // override SchemaBase virtuals.
  MJCPHYSICS_API
  const TfType& _GetTfType() const override;

 public:
  // --------------------------------------------------------------------- //
  // GROUP
  // --------------------------------------------------------------------- //
  /// Integer MuJoCo group to which the collider belongs.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform int mjc:group = 0` |
  /// | C++ Type | int |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetGroupAttr() const;

  /// See GetGroupAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
                               bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // SHELLINERTIA
  // --------------------------------------------------------------------- //
  /// Enables handling of the inertia assuming mass is concentrated on the
  /// surface.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform bool mjc:shellinertia = 0` |
  /// | C++ Type | bool |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetShellInertiaAttr() const;

  /// See GetShellInertiaAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateShellInertiaAttr(VtValue const& defaultValue = VtValue(),
                                      bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // PRIORITY
  // --------------------------------------------------------------------- //
  /// Priority determining how the properties of two colliders are combined to
  /// form the properties of the contact.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform int mjc:priority = 0` |
  /// | C++ Type | int |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetPriorityAttr() const;

  /// See GetPriorityAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreatePriorityAttr(VtValue const& defaultValue = VtValue(),
                                  bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // CONDIM
  // --------------------------------------------------------------------- //
  /// The dimensionality of the contact space for a dynamically generated
  /// contact pair is set to the maximum of the condim values of the two
  /// participating geoms.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform int mjc:condim = 3` |
  /// | C++ Type | int |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetConDimAttr() const;

  /// See GetConDimAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateConDimAttr(VtValue const& defaultValue = VtValue(),
                                bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // SOLMIX
  // --------------------------------------------------------------------- //
  /// Specifies the weight used for averaging of contact parameters, and
  /// interacts with the priority attribute.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform double mjc:solmix = 1` |
  /// | C++ Type | double |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetSolMixAttr() const;

  /// See GetSolMixAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateSolMixAttr(VtValue const& defaultValue = VtValue(),
                                bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // SOLREF
  // --------------------------------------------------------------------- //
  /// Specifies the weight used for averaging of contact parameters, and
  /// interacts with the priority attribute.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
  /// | C++ Type | VtArray<double> |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetSolRefAttr() const;

  /// See GetSolRefAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
                                bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // SOLIMP
  // --------------------------------------------------------------------- //
  /// Specifies the weight used for averaging of contact parameters, and
  /// interacts with the priority attribute.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
  /// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
  /// SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetSolImpAttr() const;

  /// See GetSolImpAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
                                bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // MARGIN
  // --------------------------------------------------------------------- //
  /// Distance threshold below which contacts are detected and included in the
  /// global array mjData.contact.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform double mjc:margin = 0` |
  /// | C++ Type | double |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetMarginAttr() const;

  /// See GetMarginAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateMarginAttr(VtValue const& defaultValue = VtValue(),
                                bool writeSparsely = false) const;

 public:
  // --------------------------------------------------------------------- //
  // GAP
  // --------------------------------------------------------------------- //
  /// This attribute is used to enable the generation of inactive contacts,
  /// i.e., contacts that are ignored by the constraint solver but are included
  /// in mjData.contact for the purpose of custom computations. When this value
  /// is positive, geom distances between margin and margin-gap correspond to
  /// such inactive contacts.
  ///
  /// | ||
  /// | -- | -- |
  /// | Declaration | `uniform double mjc:gap = 0` |
  /// | C++ Type | double |
  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
  MJCPHYSICS_API
  UsdAttribute GetGapAttr() const;

  /// See GetGapAttr(), and also
  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
  /// If specified, author \p defaultValue as the attribute's default,
  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
  /// the default for \p writeSparsely is \c false.
  MJCPHYSICS_API
  UsdAttribute CreateGapAttr(VtValue const& defaultValue = VtValue(),
                             bool writeSparsely = false) const;

 public:
  // ===================================================================== //
  // Feel free to add custom code below this line, it will be preserved by
  // the code generator.
  //
  // Just remember to:
  //  - Close the class declaration with };
  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
  //  - Close the include guard with #endif
  // ===================================================================== //
  // --(BEGIN CUSTOM CODE)--
};

PXR_NAMESPACE_CLOSE_SCOPE

#endif