Functions#

float ACos(float theta): Computes the arc cosine (inverse cosine) of a value.
float ASin(float theta): Computes the arc sine (inverse sine) of a value.
float ATan(float theta): Computes the arc tangent (inverse tangent) of a value.
float ATan2(float x, float y): Computes the arc tangent of y/x using the signs to determine quadrant.
float Abs(float x): Computes the absolute value of a float.
Matrix22 Add(const Matrix22 &a, const Matrix22 &b): Adds two 2x2 matrices element-wise.
Matrix33 Add(const Matrix33 &a, const Matrix33 &b): Adds two matrices element-wise.
XMatrix44< T > AffineInverse(const XMatrix44< T > &m)
Rotation AlignToVector(const Vec3 &vector)
Vec2 AngleToVector(float a)
void BasisFromVector(const Vec3 &w, Vec3 *u, Vec3 *v)
Colour BourkeColorMap(float low, float high, float v)
T Clamp(T a, T low, T high): Clamps a value between a minimum and maximum range.
float ClosestPointBetweenLineSegmentAndTri(const Vec3 &p, const Vec3 &q, const Vec3 &a, const Vec3 &b, const Vec3 &c, float &outT, float &outV, float &outW)
void ClosestPointBetweenLineSegments(const Vec3 &p, const Vec3 &q, const Vec3 &r, const Vec3 &s, float &u, float &v)
Vec3 ClosestPointOnFatTriangle(const Vec3 &a, const Vec3 &b, const Vec3 &c, const Vec3 &p, const float thickness, float &v, float &w)
Vec3 ClosestPointOnTriangle(const Vec3 &a, const Vec3 &b, const Vec3 &c, const Vec3 &p, float &v, float &w)
Vec3 ClosestPointToAABB(const Vec3 &p, const Vec3 &lower, const Vec3 &upper)
uint32_t ColourToRGBA8(const Colour &c)
float Cos(float theta): Computes the cosine of an angle.
Vec3 CosineSampleHemisphere()
Mesh * CreateCapsule(int slices, int segments, float radius=1.0f, float halfHeight=1.0f): Creates a capsule mesh primitive.
Mesh * CreateCubeMesh(): Creates a cube mesh primitive.
Mesh * CreateCylinder(int slices, float radius, float halfHeight, bool cap=false): Creates a cylinder mesh primitive.
Mesh * CreateDiscMesh(float radius, uint32_t segments): Creates a circular disc mesh.
Mesh * CreateEllipsoid(int slices, int segments, Vec3 radiis): Creates an ellipsoid mesh primitive.
Mesh * CreateQuadMesh(float sizex, float sizez, int gridx, int gridz): Creates a subdivided quad mesh.
Mesh * CreateSphere(int slices, int segments, float radius=1.0f): Creates a sphere mesh primitive.
Mesh * CreateTetrahedron(float ground=0.0f, float height=1.0f): Creates a tetrahedron mesh primitive.
Mesh * CreateTriMesh(float size, float y=0.0f): Creates a triangular mesh primitive.
T Cross(const XVector2< T > &a, const XVector2< T > &b): Computes the 2D cross product of two vectors.
Vec3 Cross(const Vec3 &b, const Vec3 &c): Computes the cross product of two 3D vectors.
T Cube(T x): Computes the cube of a value.
std::string DataPath(const char *p)
float DegToRad(float t): Converts degrees to radians.
float Determinant(const Matrix22 &m): Calculates the determinant of a 2x2 matrix.
float Determinant(const Matrix33 &m): Computes the determinant of a 3x3 matrix.
T Determinant(const XMatrix< n, n, T > &A, XMatrix< n, n, T > &L, XMatrix< n, n, T > &U)
Matrix33 Diagonalize(const Vec3 &v): Creates a diagonal matrix from a 3D vector.
Vec3 DifferentiateQuat(const Quat &q1, const Quat &q0, float invdt)
T::value_type Distance(const T &v1, const T &v2): Computes the distance between two vectors.
float Dot(const Plane &p, const Point3 &v)
float Dot(const Plane &p, const Vector3 &v)
float Dot(const Vector3 &v, const Plane &p)
T Dot(const XVector4< T > &v1, const XVector4< T > &v2)
float Dot(const Quat &a, const Quat &b)
T Dot(const XVector2< T > &v1, const XVector2< T > &v2): Computes the dot product of two vectors.
T Dot(const XVector3< T > &v1, const XVector3< T > &v2): Computes the dot product of two 3D vectors.
T::value_type Dot3(const T &v1, const T &v2): Computes the dot product of two vectors with value_type return.
float Dot3(const float *v1, const float *v2): Computes the dot product of two float arrays representing 3D vectors.
void EulerFromQuatZYX(const Quat &q, float &rotx, float &roty, float &rotz)
std::string ExpandPath(const char *path)
void ExportMeshToBin(const char *path, const Mesh *m): Exports a mesh to binary format.
void ExtractFrustumPlanes(const Matrix44 &m, Plane *planes)
bool FileMove(const char *src, const char *dest)
bool FileScan(const char *pattern, std::vector< std::string > &files)
T FrobeniusNorm(const XMatrix< m, n, T > &A)
Vec3 GetBasisVector0(const Quat &q)
Vec3 GetBasisVector1(const Quat &q)
Vec3 GetBasisVector2(const Quat &q)
bool GetCmdLineArg(const char *arg, T &out, int argc, char *argv[])
std::string GetExePath()
std::string GetExtension(const char *path)
std::string GetFilePathByPlatform(const char *path)
Quat GetRotationQuat(const Vec3 &_u, const Vec3 &_v)
double GetSeconds()
std::string GetWorkingDirectory()
PXR_NAMESPACE_OPEN_SCOPE bool GfIsClose(const pxr::GfQuatd &val1, const pxr::GfQuatd &val2, double tolerance)
Colour HSVToRGB(float h, float s, float v)
T HermiteInterpolate(const T &a, const T &b, const T &t1, const T &t2, float t)
T HermiteSecondDerivative(const T &a, const T &b, const T &t1, const T &t2, float t)
T HermiteTangent(const T &a, const T &b, const T &t1, const T &t2, float t)
Quat IntegrateQuat(const Vec3 &omega, const Quat &q0, float dt)
bool IntersectLineSegmentPlane(const Vec3 &start, const Vec3 &end, const Plane &plane, Vec3 &out)
bool IntersectLineTri(const Vec3 &p, const Vec3 &q, const Vec3 &a, const Vec3 &b, const Vec3 &c)
bool IntersectPlaneAABB(const Vec4 &plane, const Vec3 &center, const Vec3 &extents)
bool IntersectRayAABB(const Vec3 &start, const Vector3 &dir, const Vector3 &min, const Vector3 &max, float &t, Vector3 *normal)
bool IntersectRayAABBFast(const Vec3 &pos, const Vector3 &rcp_dir, const Vector3 &min, const Vector3 &max, float &t)
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)
bool IntersectRayPlane(const Point3 &p, const Vector3 &dir, const Plane &plane, float &t)
bool IntersectRaySphere(const Point3 &sphereOrigin, float sphereRadius, const Point3 &rayOrigin, const Vec3 &rayDir, float &t, Vec3 *hitNormal=nullptr)
bool IntersectRaySphere(const Point3 &sphereOrigin, float sphereRadius, const Point3 &rayOrigin, const Vector3 &rayDir, float &minT, float &maxT, Vec3 *hitNormal=nullptr)
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)
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)
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)
Bounds Intersection(const Bounds &a, const Bounds &b)
float InvSqrt(float x): Computes the inverse square root of a value.
Matrix22 Inverse(const Matrix22 &m, float &det): Computes the inverse of a 2x2 matrix.
Matrix33 Inverse(const Matrix33 &a, bool &success): Computes the inverse of a 3x3 matrix using single precision.
Transform Inverse(const Transform &transform)
XMatrix< n, n, T > Inverse(const XMatrix< n, n, T > &A, T &det)
Quat Inverse(const Quat &q)
Matrix33 InverseDouble(const Matrix33 &a, bool &success): Computes the inverse of a 3x3 matrix using double precision.
Vec3 InverseTransformPoint(const Transform &t, const Vec3 &v)
Vec3 InverseTransformVector(const Transform &t, const Vec3 &v)
Colour JetColorMap(float low, float high, float x)
float L2_magnitude(const Matrix33 &matrix): Computes the L2 magnitude (Frobenius norm) of a matrix.
XMatrix< n, n, T > LU(const XMatrix< n, n, T > &m, XMatrix< n, n, T > &L)
T::value_type Length(const T &v): Computes the length (magnitude) of a vector.
float Length(const Quat &a)
T::value_type LengthSq(const T v): Computes the squared length of a vector.
V Lerp(const V &start, const V &end, const T &t): Performs linear interpolation between two values.
Colour LinearToSrgb(const Colour &c)
uint8_t * LoadFileToBuffer(const char *filename, uint32_t *sizeRead=nullptr)
std::string LoadFileToString(const char *filename)
float Log(float base, float x)
int Log2(int x)
Mat44 LookAtMatrix(const Point3 &viewer, const Point3 &target)
T Max(T a, T b): Returns the maximum of two values.
Point3 Max(const Point3 &a, const Point3 &b): Computes the component-wise maximum of two points.
XVector2< T > Max(const XVector2< T > &a, const XVector2< T > &b): Computes the component-wise maximum of two vectors.
XVector3< T > Max(const XVector3< T > &a, const XVector3< T > &b): Component-wise maximum of two vectors.
T Min(T a, T b): Returns the minimum of two values.
Point3 Min(const Point3 &a, const Point3 &b): Computes the component-wise minimum of two points.
XVector2< T > Min(const XVector2< T > &a, const XVector2< T > &b): Computes the component-wise minimum of two vectors.
XVector3< T > Min(const XVector3< T > &a, const XVector3< T > &b): Component-wise minimum of two vectors.
float Mod(float x, float y): Computes the floating-point remainder of x/y.
Matrix22 Multiply(const Matrix22 &a, const Matrix22 &b): Multiplies two 2x2 matrices.
Matrix22 Multiply(float s, const Matrix22 &m): Multiplies a 2x2 matrix by a scalar value.
Vec2 Multiply(const Matrix22 &a, const Vec2 &x): Multiplies a 2x2 matrix by a 2D vector.
Vec3 Multiply(const Matrix33 &a, const Vec3 &x): Multiplies a matrix by a vector.
Matrix33 Multiply(float s, const Matrix33 &m): Multiplies a matrix by a scalar.
Matrix33 Multiply(const Matrix33 &a, const Matrix33 &b): Multiplies two matrices.
XVector3< T > Multiply(const XMatrix44< T > &mat, const XVector3< T > &v)
XVector4< T > Multiply(const XMatrix44< T > &mat, const XVector4< T > &v)
Point3 Multiply(const XMatrix44< T > &mat, const Point3 &v)
XMatrix< m, o > Multiply(const XMatrix< m, n, T > &lhs, const XMatrix< n, o, T > &rhs)
T Normalize(const T &v): Normalizes a vector to unit length.
Quat Normalize(const Quat &q)
std::string NormalizePath(const char *path)
Vec4 NormalizePlane(const Vec4 &p)
Mat44 OrthographicMatrix(float left, float right, float bottom, float top, float n, float f)
Matrix22 Outer(const Vec2 &a, const Vec2 &b): Computes the outer product of two 2D vectors.
Matrix33 Outer(const Vec3 &a, const Vec3 &b): Computes the outer product of two vectors.
XMatrix44< float > Outer(const Vec4 &a, const Vec4 &b)
XMatrix< n, n > Permutation(int i, int j)
XVector2< T > PerpCCW(const XVector2< T > &v): Returns the counter-clockwise perpendicular vector.
XVector2< T > PerpCW(const XVector2< T > &v): Returns the clockwise perpendicular vector.
Vec4 PlaneFromPoints(const Vec3 &p, const Vec3 &q, const Vec3 &r)
bool PointInTriangle(Vec3 a, Vec3 b, Vec3 c, Vec3 p)
int PoissonSample3D(float radius, float separation, Vec3 *points, int maxPoints, int maxAttempts)
int PoissonSampleBox3D(Vec3 lower, Vec3 upper, float separation, Vec3 *points, int maxPoints, int maxAttempts)
Matrix22 PolarDecomposition(const Matrix22 &m): Performs polar decomposition of a 2x2 matrix.
float Pow(float b, float e): Computes b raised to the power e.
void PrintMatrix(const char *name, XMatrix< m, n > a)
Mat44 ProjectionMatrix(float fov, float aspect, float znear, float zfar)
Matrix22 QRDecomposition(const Matrix22 &m): Performs QR decomposition of a 2x2 matrix.
Quat QuatFromAxisAngle(const Vec3 &axis, float angle)
XQuat< T > QuatFromAxisAngle(const Vec3 &axis, float angle)
Quat QuatFromEulerZYX(float rotx, float roty, float rotz)
float RadToDeg(float t): Converts radians to degrees.
uint32_t Rand(uint32_t min, uint32_t max)
uint32_t Rand()
void RandInit(uint32_t seed=315645664)
Vec3 RandVec3()
Vec4 Randf(const Vec4 &range)
float Randf()
float Randf(float max)
float Randf(float min, float max)
float Random(float lo, float hi)
void RandomShuffle(T begin, T end)
float RandomSignedUnit()
float RandomUnit()
Vec3 RandomUnitVector()
T RangeMap(T value, T lower, T upper)
Vec3 Rotate(const Quat &q, const Vec3 &x)
Vec3 RotateInv(const Quat &q, const Vec3 &x)
Matrix22 RotationMatrix(float theta): Creates a 2D rotation matrix for the given angle.
Mat44 RotationMatrix(float angle, const Vec3 &axis)
Mat44 RotationMatrix(const Quat &q)
int Round(float f): Rounds a float value to the nearest integer.
T SafeNormalize(const T &v, const T &fallback=T()): Safely normalizes a vector with fallback for zero-length vectors.
bool SaveStringToFile(const char *filename, const char *s)
float ScalarTriple(const Vec3 &a, const Vec3 &b, const Vec3 &c)
Mat44 ScaleMatrix(const Vector3 &s)
float Sgn(float x): Computes the sign of a value.
float Sign(float x): Computes the sign of a float value.
double Sign(double x): Computes the sign of a double value.
float Sin(float theta): Computes the sine of an angle.
void SinCos(float theta, float &s, float &c): Computes both sine and cosine of an angle simultaneously.
Matrix33 Skew(const Vec3 &v): Creates a skew-symmetric matrix from a vector.
void Sleep(double seconds)
float SmoothStep(float a, float b, float t)
XMatrix< m, 1, T > Solve(const XMatrix< m, m, T > &L, const XMatrix< m, m, T > &U, const XMatrix< m, 1, T > &b)
bool SolveQuadratic(T a, T b, T c, T &minT, T &maxT)
float SpecularExponentToRoughness(float exponent, float maxExponent=2048.0f)
float SpecularRoughnessToExponent(float roughness, float maxExponent=2048.0f)
Vec3 SphericalToXYZ(float theta, float phi)
float SqDistPointSegment(Vec3 a, Vec3 b, Vec3 c)
T Sqr(T x): Computes the square of a value.
double Sqrt(double x): Computes the square root of a double value.
float Sqrt(float x): Computes the square root of a float value.
Colour SrgbToLinear(const Colour &c)
std::string StripExtension(const char *path)
std::string StripFilename(const char *path)
std::string StripPath(const char *path)
float SurfaceArea(const Bounds &b)
void Swap(T &a, T &b): Swaps two values.
float Tan(float theta): Computes the tangent of an angle.
bool TestSphereAgainstFrustum(const Plane *planes, Vec3 center, float radius)
int TightPack3D(float radius, float separation, Vec3 *points, int maxPoints)
Colour ToneMap(const Colour &s)
float Trace(const Matrix22 &a): Calculates the trace of a 2x2 matrix.
float Trace(const Matrix33 &a): Computes the trace (sum of diagonal elements) of a matrix.
void TransformBounds(const Quat &q, Vec3 extents, Vec3 &newExtents)
void TransformBounds(const Vec3 &localLower, const Vec3 &localUpper, const Vec3 &translation, const Quat &rotation, float scale, Vec3 &lower, Vec3 &upper)
Mat44 TransformFromVector(const Vec3 &w, const Point3 &t=Point3(0.0f, 0.0f, 0.0f))
Mat44 TransformMatrix(const Rotation &r, const Point3 &p)
Mat44 TransformMatrix(const Transform &t)
Vec3 TransformPoint(const Transform &t, const Vec3 &v)
Vec3 TransformVector(const Transform &t, const Vec3 &v)
Mat44 TranslationMatrix(const Point3 &t)
Matrix22 Transpose(const Matrix22 &a): Computes the transpose of a 2x2 matrix.
Matrix33 Transpose(const Matrix33 &a): Computes the transpose of a matrix.
XMatrix44< T > Transpose(const XMatrix44< T > &m)
XMatrix< n, m > Transpose(const XMatrix< m, n > &a)
Vec2 UniformSampleDisc()
Vec3 UniformSampleHemisphere()
Vec3 UniformSampleSphere()
Vec3 UniformSampleSphereVolume()
void UniformSampleTriangle(float &u, float &v)
Bounds Union(const Bounds &a, const Bounds &b)
Bounds Union(const Bounds &a, const Vec3 &b)
float VectorToAngle(const Vec2 &v)
Mat44 ViewMatrix(const Point3 &pos)
Colour XYZToLinear(float x, float y, float z)
Colour YxyToXYZ(float Y, float x, float y)
isaacsim::ros2::bridge::Ros2Factory * createFactory(): Factory creation function exported by the library.
isaacsim::ros2::tf_viewer::Tf2Factory * createFactory(): Factory creation function for non-Windows platforms.
Quat euler_xyz2quat(const float x_rot, const float y_rot, const float z_rot)
int getClosestAxis(const Vec3 &vec)
void getEulerXYZ(const XQuat< float > &q, float &X, float &Y, float &Z): Extracts Euler angles from a quaternion using XYZ rotation order.
void getEulerZYX(const Quat &q, float &yawZ, float &pitchY, float &rollX)
Vec3 isaacsim::asset::importer::mjcf::Diagonalize(const Matrix33 &m, Quat &massFrame)
std::string isaacsim::asset::importer::mjcf::GetAttr(const tinyxml2::XMLElement *c, const char *name)
void isaacsim::asset::importer::mjcf::LoadActuator(tinyxml2::XMLElement *g, MJCFActuator &actuator, std::string className, MJCFActuator::Type type, std::map< std::string, MJCFClass > &classes)
void isaacsim::asset::importer::mjcf::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 isaacsim::asset::importer::mjcf::LoadBody(tinyxml2::XMLElement *g, std::vector< MJCFBody * > &bodies, MJCFBody &body, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes, std::string baseDirPath)
void isaacsim::asset::importer::mjcf::LoadCompiler(tinyxml2::XMLElement *c, MJCFCompiler &compiler)
void isaacsim::asset::importer::mjcf::LoadContact(tinyxml2::XMLElement *g, MJCFContact &contact, MJCFContact::Type type, std::map< std::string, MJCFClass > &classes)
void isaacsim::asset::importer::mjcf::LoadDefault(tinyxml2::XMLElement *e, const std::string className, MJCFClass &cl, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes)
tinyxml2::XMLElement * isaacsim::asset::importer::mjcf::LoadFile(tinyxml2::XMLDocument &doc, const std::string filePath)
void isaacsim::asset::importer::mjcf::LoadFreeJoint(tinyxml2::XMLElement *g, MJCFJoint &joint, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes, bool isDefault)
void isaacsim::asset::importer::mjcf::LoadGeom(tinyxml2::XMLElement *g, MJCFGeom &geom, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes, bool isDefault)
void isaacsim::asset::importer::mjcf::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::vector< MJCFEqualityConnect * > &equalityConnects, 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)
tinyxml2::XMLElement * isaacsim::asset::importer::mjcf::LoadInclude(tinyxml2::XMLDocument &doc, const tinyxml2::XMLElement *c, const std::string baseDirPath)
void isaacsim::asset::importer::mjcf::LoadInertial(tinyxml2::XMLElement *i, MJCFInertial &inertial)
void isaacsim::asset::importer::mjcf::LoadJoint(tinyxml2::XMLElement *g, MJCFJoint &joint, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes, bool isDefault)
void isaacsim::asset::importer::mjcf::LoadMesh(tinyxml2::XMLElement *m, MJCFMesh &mesh, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes)
void isaacsim::asset::importer::mjcf::LoadSite(tinyxml2::XMLElement *s, MJCFSite &site, std::string className, MJCFCompiler &compiler, std::map< std::string, MJCFClass > &classes, bool isDefault)
void isaacsim::asset::importer::mjcf::LoadTendon(tinyxml2::XMLElement *t, MJCFTendon &tendon, std::string className, MJCFTendon::Type type, std::map< std::string, MJCFClass > &classes)
std::string isaacsim::asset::importer::mjcf::SanitizeUsdName(const std::string &src)
void isaacsim::asset::importer::mjcf::applyArticulationAPI(std::unordered_map< std::string, pxr::UsdStageRefPtr > stages, pxr::UsdGeomXformable prim, const isaacsim::asset::importer::mjcf::ImportConfig config)
void isaacsim::asset::importer::mjcf::applyCollisionGeom(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim, bool ConvexDecomposition)
void isaacsim::asset::importer::mjcf::applyJointLimits(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint, const MJCFActuator *actuator, const int *axisMap, const int jointIdx, const int numJoints, const ImportConfig &config)
void isaacsim::asset::importer::mjcf::applyPhysxJoint(pxr::UsdPhysicsJoint &jointPrim, const MJCFJoint *joint)
void isaacsim::asset::importer::mjcf::applyRigidBody(std::unordered_map< std::string, pxr::UsdStageRefPtr > stages, pxr::UsdGeomXformable bodyPrim, const MJCFBody *body, const ImportConfig &config)
void isaacsim::asset::importer::mjcf::createAndBindMaterial(pxr::UsdStageWeakPtr stage, pxr::UsdPrim prim, MJCFMaterial *material, MJCFTexture *texture, Vec4 &color, bool colorOnly, std::map< pxr::TfToken, pxr::SdfPath > &materialPaths)
pxr::UsdGeomXformable isaacsim::asset::importer::mjcf::createBody(pxr::UsdStageWeakPtr stage, const std::string primPath, const Transform &trans, const ImportConfig &config)
pxr::UsdPhysicsJoint isaacsim::asset::importer::mjcf::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 isaacsim::asset::importer::mjcf::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)
void isaacsim::asset::importer::mjcf::createFixedRoot(std::unordered_map< std::string, pxr::UsdStageRefPtr > stages, const std::string jointPath, const std::string bodyPath)
void isaacsim::asset::importer::mjcf::createJointDrives(pxr::UsdPhysicsJoint jointPrim, const MJCFJoint *joint, const MJCFActuator *actuator, const std::string axis, const ImportConfig &config)
pxr::UsdGeomMesh isaacsim::asset::importer::mjcf::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::UsdPrim isaacsim::asset::importer::mjcf::createPrimitiveGeom(pxr::UsdStageWeakPtr stage, const std::string geomPath, const MJCFGeom *geom, const std::map< std::string, MeshInfo > &simulationMeshCache, const ImportConfig &config, std::map< pxr::TfToken, pxr::SdfPath > &materialPaths, bool importMaterials, const std::string rootPrimPath, bool collisionGeom)
pxr::UsdPrim isaacsim::asset::importer::mjcf::createPrimitiveGeom(pxr::UsdStageWeakPtr stage, const std::string geomPath, const MJCFSite *site, const ImportConfig &config, bool importMaterials)
void isaacsim::asset::importer::mjcf::createRoot(std::unordered_map< std::string, pxr::UsdStageRefPtr > stages, Transform trans, const std::string rootPrimPath, const isaacsim::asset::importer::mjcf::ImportConfig config)
pxr::UsdPrim isaacsim::asset::importer::mjcf::createUsdMesh(pxr::UsdStageWeakPtr stage, const pxr::SdfPath path, Mesh *mesh, float scale, bool importMaterials, bool instanceable)
void isaacsim::asset::importer::mjcf::getAngleAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q, bool angleInRad)
void isaacsim::asset::importer::mjcf::getEulerIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q, std::string eulerseq, bool angleInRad)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, float &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, bool &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec4 &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec3 &from, Vec3 &to)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, Vec2 &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, int &p)
void isaacsim::asset::importer::mjcf::getIfExist(tinyxml2::XMLElement *e, const char *aname, std::string &s)
pxr::SdfPath isaacsim::asset::importer::mjcf::getNextFreePath(pxr::UsdStageWeakPtr stage, const pxr::SdfPath &primPath)
void isaacsim::asset::importer::mjcf::getZAxisIfExist(tinyxml2::XMLElement *e, const char *aname, Quat &q)
Quat isaacsim::asset::importer::mjcf::indexedRotation(int axis, float s, float c)
void isaacsim::asset::importer::mjcf::initPhysicsJoint(pxr::UsdPhysicsJoint &jointPrim, const Transform &poseJointToParentBody, const Transform &poseJointToChildBody, const std::string parentBodyPath, const std::string bodyPath, const float &distanceScale)
void isaacsim::asset::importer::mjcf::setStageMetadata(pxr::UsdStageWeakPtr stage, const isaacsim::asset::importer::mjcf::ImportConfig config)
Vec3 isaacsim::asset::importer::urdf::Diagonalize(const Matrix33 &m, Quat &massFrame)
std::string isaacsim::asset::importer::urdf::GetNewSdfPathString(pxr::UsdStageWeakPtr stage, std::string path, int nameClashNum=-1)
bool isaacsim::asset::importer::urdf::IsUsdFile(const std::string &filename)
pxr::SdfPath isaacsim::asset::importer::urdf::SimpleImport(pxr::UsdStageRefPtr usdStage, const std::string &path, const std::string &meshPath, std::map< pxr::TfToken, pxr::SdfPath > &meshList, std::map< pxr::TfToken, pxr::SdfPath > &materialList, const pxr::SdfPath &rootPath)
bool isaacsim::asset::importer::urdf::addVisualMeshToCollision(UrdfRobot &robot)
bool isaacsim::asset::importer::urdf::collapseFixedJoints(UrdfRobot &robot)
float isaacsim::asset::importer::urdf::computeSimpleStiffness(const UrdfRobot &robot, std::string joint, float naturalFrequency)
bool isaacsim::asset::importer::urdf::findRootLink(const std::map< std::string, UrdfLink > &urdfLinks, const std::map< std::string, UrdfJoint > &urdfJoints, std::string &rootLinkName)
Quat isaacsim::asset::importer::urdf::indexedRotation(int axis, float s, float c)
void isaacsim::asset::importer::urdf::inertiaToUrdf(const Matrix33 &inertia, UrdfInertia &urdfInertia)
void isaacsim::asset::importer::urdf::mergeFixedChildLinks(const KinematicChain::Node &parentNode, UrdfRobot &robot)
bool isaacsim::asset::importer::urdf::parseAxis(const tinyxml2::XMLElement &element, UrdfAxis &axis)
bool isaacsim::asset::importer::urdf::parseDynamics(const tinyxml2::XMLElement &element, UrdfDynamics &dynamics)
bool isaacsim::asset::importer::urdf::parseFixedFrames(const tinyxml2::XMLElement &element, std::map< std::string, UrdfLink > &links)
bool isaacsim::asset::importer::urdf::parseGeometry(const tinyxml2::XMLElement &element, UrdfGeometry &geometry)
bool isaacsim::asset::importer::urdf::parseInertia(const tinyxml2::XMLElement &element, UrdfInertia &inertia)
bool isaacsim::asset::importer::urdf::parseInertial(const tinyxml2::XMLElement &element, UrdfInertial &inertial)
bool isaacsim::asset::importer::urdf::parseJointType(const std::string &str, UrdfJointType &type)
bool isaacsim::asset::importer::urdf::parseJoints(const tinyxml2::XMLElement &root, std::map< std::string, UrdfJoint > &urdfJoints)
bool isaacsim::asset::importer::urdf::parseLimit(const tinyxml2::XMLElement &element, UrdfLimit &limit)
bool isaacsim::asset::importer::urdf::parseLinks(const tinyxml2::XMLElement &root, std::map< std::string, UrdfLink > &urdfLinks)
bool isaacsim::asset::importer::urdf::parseLoopJoints(const tinyxml2::XMLElement &element, std::map< std::string, UrdfLoopJoint > &loopJoints)
bool isaacsim::asset::importer::urdf::parseMass(const tinyxml2::XMLElement &element, float &mass)
bool isaacsim::asset::importer::urdf::parseMaterial(const tinyxml2::XMLElement &element, UrdfMaterial &material)
bool isaacsim::asset::importer::urdf::parseMaterials(const tinyxml2::XMLElement &root, std::map< std::string, UrdfMaterial > &urdfMaterials)
bool isaacsim::asset::importer::urdf::parseOrigin(const tinyxml2::XMLElement &element, Transform &origin)
bool isaacsim::asset::importer::urdf::parseSensors(const tinyxml2::XMLElement &root, std::map< std::string, UrdfLink > &urdfLinks)
bool isaacsim::asset::importer::urdf::parseUrdf(const std::string &urdfPackagePath, const std::string &urdfFileRelativeToPackage, UrdfRobot &urdfRobot)
bool isaacsim::asset::importer::urdf::parseUrdfString(const std::string &urdf_str, UrdfRobot &urdfRobot)
std::string isaacsim::asset::importer::urdf::resolveXrefPath(const std::string &assetRoot, const std::string &urdfPath, const std::string &xrefpath)
Vec3 isaacsim::asset::importer::urdf::urdfAxisToVec(const UrdfAxis &axis)
void isaacsim::asset::importer::urdf::urdfToInertia(const UrdfInertia &urdfInertia, Matrix33 &inertia)
bool isaacsim::core::cloner::fabricClone(long int stageId, const std::string &source_prim_path, const std::vector< std::string > &prim_paths): Creates clones of a source prim at specified target paths in the USD stage.
carb::ColorRgba isaacsim::core::includes::color::distToRgba(double ratio): Converts a ratio value to a carb::ColorRgba struct.
carb::Float3 isaacsim::core::includes::conversions::asCarbFloat3(const pxr::GfVec3d &v): Converts pxr::GfVec3d to carb::Float3.
carb::Float3 isaacsim::core::includes::conversions::asCarbFloat3(const pxr::GfVec3f &v): Converts pxr::GfVec3f to carb::Float3.
carb::Float4 isaacsim::core::includes::conversions::asCarbFloat4(const pxr::GfQuatf &v): Converts pxr::GfQuatf to carb::Float4.
carb::Float4 isaacsim::core::includes::conversions::asCarbFloat4(const physx::PxQuat &q): convert physx::PxQuat to carb::Float4
carb::Float4 isaacsim::core::includes::conversions::asCarbFloat4(const pxr::GfQuatd &v): Converts pxr::GfQuatd to carb::Float4.
pxr::GfQuatd isaacsim::core::includes::conversions::asGfQuatd(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfQuatd.
pxr::GfQuatf isaacsim::core::includes::conversions::asGfQuatf(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfQuatf.
pxr::GfRotation isaacsim::core::includes::conversions::asGfRotation(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfRotation.
pxr::GfTransform isaacsim::core::includes::conversions::asGfTransform(const carb::Float3 &p, const carb::Float4 &r): Converts position and rotation into a pxr::GfTransform.
pxr::GfVec3d isaacsim::core::includes::conversions::asGfVec3d(const carb::Float3 &v): Converts a carb::Float3 into a pxr::GfVec3d.
pxr::GfVec3f isaacsim::core::includes::conversions::asGfVec3f(const carb::Float3 &v): Converts a carb::Float3 into a pxr::GfVec3f.
inline ::physx::PxQuat isaacsim::core::includes::conversions::asPxQuat(const usdrt::GfQuatf &v): Converts usdrt::GfQuatf into PhysX quaternion.
inline ::physx::PxQuat isaacsim::core::includes::conversions::asPxQuat(const pxr::GfQuatd &v): Converts pxr::GfQuatd into PhysX quaternion.
inline ::physx::PxQuat isaacsim::core::includes::conversions::asPxQuat(const usdrt::GfQuatd &v): Converts usdrt::GfQuatd into PhysX quaternion.
inline ::physx::PxQuat isaacsim::core::includes::conversions::asPxQuat(const pxr::GfQuatf &v): Converts pxr::GfQuatf into PhysX quaternion.
inline ::physx::PxQuat isaacsim::core::includes::conversions::asPxQuat(const carb::Float4 &q): Converts carb::Float4 into PhysX quaternion.
inline ::physx::PxTransform isaacsim::core::includes::conversions::asPxTransform(const pxr::GfTransform &trans): Converts USD transform into PhysX transform.
inline ::physx::PxTransform isaacsim::core::includes::conversions::asPxTransform(const usdrt::GfVec3d &translation, const usdrt::GfQuatd &orientation): Converts USD runtime translation and orientation into PhysX transform.
inline ::physx::PxTransform isaacsim::core::includes::conversions::asPxTransform(const usdrt::GfMatrix4d &mat): Converts USD runtime matrix into PhysX transform.
inline ::physx::PxVec3 isaacsim::core::includes::conversions::asPxVec3(const pxr::GfVec3d &v): Converts pxr::GfVec3d into PhysX vector.
inline ::physx::PxVec3 isaacsim::core::includes::conversions::asPxVec3(const carb::Float3 &v): Converts carb::Float3 into PhysX vector.
inline ::physx::PxVec3 isaacsim::core::includes::conversions::asPxVec3(const usdrt::GfVec3d &v): Converts usdrt::GfVec3d into PhysX vector.
inline ::physx::PxVec3 isaacsim::core::includes::conversions::asPxVec3(const pxr::GfVec3f &v): Converts pxr::GfVec3f into PhysX vector.
inline ::physx::PxVec3 isaacsim::core::includes::conversions::asPxVec3(const usdrt::GfVec3f &v): Converts usdrt::GfVec3f into PhysX vector.
void isaacsim::core::includes::copyTimeSamplesFromWeakerLayer(pxr::UsdStage &stage, const pxr::UsdAttribute &attr): Copy TimeSample From Waker Layer.
pxr::GfMatrix4d isaacsim::core::includes::findInnerTransform(pxr::UsdPrim prim, const pxr::GfMatrix4d &mtx, bool &foundTransformOp, pxr::UsdTimeCode timecode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false): Given a target local transform matrix for a prim, determine what value to set just the transformOp when other xformOps are present.
const PXR_NS::TfToken isaacsim::core::includes::g_kIsaacNameOveride("isaac:nameOverride"): Token for overriding prim names in Isaac Sim.
TimeSamplesOnLayer isaacsim::core::includes::getAttributeEffectiveTimeSampleLayerInfo(const pxr::UsdStage &stage, const pxr::UsdAttribute &attr, pxr::SdfLayerRefPtr *outLayer=nullptr): check if attribute has efficient timesample and these data are on currentlayer/strongerlayer/weakerlayer
pxr::UsdAttribute isaacsim::core::includes::getCameraAttributeFromRenderProduct(const std::string &attributeString, const std::string &renderProductPathString): Retrieves a specific attribute from a camera associated with a render product.
pxr::UsdPrim isaacsim::core::includes::getCameraPrimFromRenderProduct(const std::string &renderProductPathString): Retrieves the camera prim associated with a render product.
PXR_NS::SdfLayerRefPtr isaacsim::core::includes::getLayerIfDefOnSessionOrItsSublayers(PXR_NS::UsdStageRefPtr stage, const PXR_NS::SdfPath &path): Finds if the given prim path has a "def" primSpec on session layer or its sublayers.
PXR_NS::SdfLayerRefPtr isaacsim::core::includes::getLayerIfSpecOnSessionOrItsSublayers(PXR_NS::UsdStageRefPtr stage, const PXR_NS::SdfPath &path, const std::function< bool(PXR_NS::SdfSpecHandle)> &predicate=nullptr): Finds if the given path has a spec on session layer or its sublayers.
pxr::GfMatrix4d isaacsim::core::includes::getLocalTransformMatrix(const pxr::UsdPrim &prim, pxr::UsdTimeCode time=pxr::UsdTimeCode::Default()): Gets local transform matrix of a prim.
std::string isaacsim::core::includes::getName(const pxr::UsdPrim &prim): Retrieves the name of a USD prim, with support for custom overrides.
pxr::SdfPath isaacsim::core::includes::getSdfPathFromUint64(uint64_t pathToken): Converts a uint64_t token to a USD path.
pxr::GfMatrix4d isaacsim::core::includes::getWorldTransformMatrix(const pxr::UsdPrim &prim, pxr::UsdTimeCode time=pxr::UsdTimeCode::Default()): Gets world transform matrix of a prim.
bool isaacsim::core::includes::hasTimeSample(const pxr::UsdAttribute &attribute, pxr::UsdTimeCode timeCode): Checks if a UsdAttribute instance has time sample on key timeCode.
bool isaacsim::core::includes::isTimeSampled(const pxr::UsdAttribute &attribute): Checks if a UsdAttribute instance is time sampled.
carb::Float3 isaacsim::core::includes::math::cross(const carb::Float3 &b, const carb::Float3 &c): Computes the cross product of two 3D vectors.
float isaacsim::core::includes::math::dot(const carb::Float4 &v1, const carb::Float4 &v2): Computes the dot product of two 4D vectors.
float isaacsim::core::includes::math::dot(const carb::Float3 &v1, const carb::Float3 &v2): Computes the dot product of two 3D vectors.
carb::Float3 isaacsim::core::includes::math::getBasisVectorX(const carb::Float4 &q): Gets the X basis vector from a rotation quaternion.
carb::Float3 isaacsim::core::includes::math::getBasisVectorY(const carb::Float4 &q): Gets the Y basis vector from a rotation quaternion.
carb::Float3 isaacsim::core::includes::math::getBasisVectorZ(const carb::Float4 &q): Gets the Z basis vector from a rotation quaternion.
carb::Float4 isaacsim::core::includes::math::inverse(const carb::Float4 &q): Computes the inverse of a quaternion.
carb::Float3 isaacsim::core::includes::math::lerp(const carb::Float3 &start, const carb::Float3 &end, const float t): Linearly interpolates between two 3D vectors.
carb::Float4 isaacsim::core::includes::math::lerp(const carb::Float4 &start, const carb::Float4 &end, const float t): Linearly interpolates between two quaternions.
pxr::GfQuatf isaacsim::core::includes::math::lookAt(const pxr::GfVec3f &camera, const pxr::GfVec3f &target, const pxr::GfVec3f &up): Computes a look-at quaternion rotation.
carb::Float3 isaacsim::core::includes::math::normalize(const carb::Float3 &q): Normalizes a 3D vector to unit length.
carb::Float4 isaacsim::core::includes::math::normalize(const carb::Float4 &q): Normalizes a quaternion to unit length.
carb::Float4 isaacsim::core::includes::math::operator*(const carb::Float4 &a, const carb::Float4 &b): Performs quaternion multiplication.
carb::Float4 isaacsim::core::includes::math::operator*(const carb::Float4 &a, const float x): Scales a 4D vector/quaternion by a scalar value.
carb::Float3 isaacsim::core::includes::math::operator*(const carb::Float3 &a, const float x): Scales a 3D vector by a scalar value.
carb::Float4 isaacsim::core::includes::math::operator+(const carb::Float4 &a, const carb::Float4 &b): Adds two 4D vectors/quaternions.
carb::Float3 isaacsim::core::includes::math::operator+(const carb::Float3 &a, const carb::Float3 &b): Adds two 3D vectors.
carb::Float3 isaacsim::core::includes::math::operator-(const carb::Float3 &a, const carb::Float3 &b): Subtracts two 3D vectors.
carb::Float4 isaacsim::core::includes::math::operator-(const carb::Float4 &a, const carb::Float4 &b): Subtracts two 4D vectors/quaternions.
carb::Float3 isaacsim::core::includes::math::rotate(const carb::Float4 &q, const carb::Float3 x): Rotates a vector by a quaternion.
double isaacsim::core::includes::math::roundNearest(double input, double place): Rounds a number to the nearest multiple of a given value.
carb::Float4 isaacsim::core::includes::math::slerp(const carb::Float4 &start, const carb::Float4 &end, const float t): Performs spherical linear interpolation between quaternions.
pxr::GfTransform isaacsim::core::includes::math::transformInv(const pxr::GfTransform &a, const pxr::GfTransform &b): Computes the local transform of b relative to transform a.
usdrt::GfMatrix4d isaacsim::core::includes::pose::computeWorldXformNoCache(pxr::UsdStageRefPtr usdStage, usdrt::UsdStageRefPtr usdrtStage, const pxr::SdfPath &path, pxr::UsdTimeCode timecode=pxr::UsdTimeCode::Default()): Computes the world transform of a prim.
usdrt::GfMatrix4d isaacsim::core::includes::pose::getRelativeTransform(pxr::UsdStageRefPtr usdStage, usdrt::UsdStageRefPtr usdrtStage, const pxr::SdfPath &sourcePrim, const pxr::SdfPath &targetPrim): Computes the relative transform matrix between two prims.
void isaacsim::core::includes::posetree::createTensorDesc(TensorDesc &tensorDesc, void *dataPtr, int numXforms, TensorDataType type)
void isaacsim::core::includes::safeGetAttribute(const pxr::UsdAttribute &attr, T &inputValue): Safely retrieves a USD attribute value with error handling.
bool isaacsim::core::includes::setAttribute(const pxr::UsdAttribute &attribute, const ValueType &val, pxr::UsdTimeCode timeCode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false, bool autoTargetSessionLayer=true): Sets attribute value with optional time sampling and session layer targeting.
bool isaacsim::core::includes::setLocalTransformMatrix(pxr::UsdPrim prim, const pxr::GfMatrix4d &mtxIn, pxr::UsdTimeCode timecode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false, std::unique_ptr< PXR_NS::SdfChangeBlock > *parentChangeBlock=nullptr): Sets local transform matrix of a prim.
bool isaacsim::core::includes::setValueWithPrecision(pxr::UsdGeomXformOp &xformOp, const ValueType &value, pxr::UsdTimeCode timeCode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false): Set value with precision based on the UsdGeomXformOp precision type.
void isaacsim::core::includes::transforms::createTensorDesc(TensorDesc &tensorDesc, void *dataPtr, int numElements, TensorDataType type)
void isaacsim::core::includes::transforms::setScale(pxr::UsdPrim &prim, pxr::GfVec3f pxBodyScale): Sets the scale of a USD prim.
void isaacsim::core::includes::transforms::setTransform(pxr::UsdPrim &prim, pxr::GfVec3f bodyTranslation, pxr::GfQuatf bodyRotation): Sets the transform (position and rotation) of a USD prim.
std::string isaacsim::core::includes::utils::path::MakeRelativePath(const std::string &filePath, const std::string &fileRelativePath)
bool isaacsim::core::includes::utils::path::createSymbolicLink(const std::string &target, const std::string &link)
std::string isaacsim::core::includes::utils::path::getParent(const std::string &filePath)
std::string isaacsim::core::includes::utils::path::getPathStem(const char *path)
bool isaacsim::core::includes::utils::path::hasExtension(const std::string &filename, const std::string &extension)
bool isaacsim::core::includes::utils::path::isAbsolutePath(const char *path)
bool isaacsim::core::includes::utils::path::isFile(const std::string &path)
std::string isaacsim::core::includes::utils::path::normalizeUrl(const char *url)
std::string isaacsim::core::includes::utils::path::pathJoin(const std::string &path1, const std::string &path2)
std::string isaacsim::core::includes::utils::path::resolve_absolute(std::string parent, std::string relative)
std::string isaacsim::core::includes::utils::path::resolve_path(const std::string &path): Calculates the final path by resolving the relative path and removing any unnecessary components.
std::string isaacsim::core::includes::utils::path::resolve_relative(const std::string &base, const std::string &target): Calculates the relative path of target relative to base.
std::vector< std::string > isaacsim::core::includes::utils::path::split_path(const std::string &path)
PathType isaacsim::core::includes::utils::path::testPath(const char *path)
std::string isaacsim::core::includes::utils::path::toLowercase(const std::string &str)
pxr::GfMatrix4d isaacsim::core::includes::utils::usd::GetGlobalTransform(const pxr::UsdPrim &prim)
std::string isaacsim::core::includes::utils::usd::GetNewSdfPathString(pxr::UsdStageWeakPtr stage, std::string path, int nameClashNum=0)
std::string isaacsim::core::includes::utils::usd::makeValidUSDIdentifier(const std::string &name)
bool isaacsim::core::includes::utils::usd::setAuthoringLayer(pxr::UsdStageRefPtr stage, const std::string &layerIdentifier): Select a existing layer as edit target.
void isaacsim::core::utils::findMatchingChildren(pxr::UsdPrim root, const std::string &pattern, std::vector< pxr::UsdPrim > &primsRet): Finds child prims matching a specified name pattern.
std::vector< std::string > isaacsim::core::utils::findMatchingPrimPaths(const std::string &pattern, long int stageId, const std::string &api=std::string("")): Finds USD prims matching a specified path pattern.
void isaacsim::robot::schema::ApplyAttachmentPointAPI(pxr::UsdPrim &prim)
void isaacsim::robot::schema::ApplyJointAPI(pxr::UsdPrim &prim)
void isaacsim::robot::schema::ApplyLinkAPI(pxr::UsdPrim &prim)
void isaacsim::robot::schema::ApplyReferencePointAPI(pxr::UsdPrim &prim)
void isaacsim::robot::schema::ApplyRobotAPI(pxr::UsdPrim &prim)
pxr::UsdPrim isaacsim::robot::schema::CreateSurfaceGripper(pxr::UsdStagePtr stage, const std::string &primPath)
const std::string isaacsim::robot::schema::_attrPrefix("isaac")
const pxr::TfToken isaacsim::robot::schema::className(Classes name)
pxr::TfToken isaacsim::robot::schema::getAttributeName(Attributes attr)
GripperStatus isaacsim::robot::surface_gripper::GripperStatusFromToken(const pxr::TfToken &token)
std::string isaacsim::robot::surface_gripper::GripperStatusToString(GripperStatus status)
pxr::TfToken isaacsim::robot::surface_gripper::GripperStatusToToken(GripperStatus status)
bool isaacsim::ros2::bridge::isRos2DistroSupported(const std::string &distro): Checks if a ROS 2 distribution is supported.
const bool isaacsim::ros2::bridge::jsonToRos2QoSProfile(Ros2QoSProfile &qos, const std::string &jsonString): Converts a JSON string to a ROS 2 QoS profile.
bool isaacsim::ros2::omnigraph_utils::checkCondition(const void *ptr, std::string message): Verifies that a pointer is not null and logs an error message if it is.
bool isaacsim::ros2::omnigraph_utils::createOgAttributesForFields(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, std::vector< DynamicMessageField > messageFields, const std::string prependStr, std::string messageType): Creates OmniGraph attributes for message fields.
bool isaacsim::ros2::omnigraph_utils::createOgAttributesForMessage(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, const std::string &messagePackage, const std::string &messageSubfolder, const std::string &messageName, std::shared_ptr< Ros2Message > message, const std::string prependStr): Creates OmniGraph attributes for a ROS 2 message.
bool isaacsim::ros2::omnigraph_utils::findMatchingAttribute(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, std::vector< DynamicMessageField > messageFields, const std::string prependStr): Checks if node attributes match message fields.
T const * isaacsim::ros2::omnigraph_utils::getAttributeReadableArrayData(const NodeObj &nodeObj, const std::string &attrName, size_t &newCount): Gets read-only data for an array attribute.
T const * isaacsim::ros2::omnigraph_utils::getAttributeReadableData(const NodeObj &nodeObj, const std::string &attrName): Gets read-only data for a simple attribute.
T * isaacsim::ros2::omnigraph_utils::getAttributeWritableArrayData(const NodeObj &nodeObj, const std::string &attrName, size_t newCount): Gets writable data for an array attribute with resizing.
T * isaacsim::ros2::omnigraph_utils::getAttributeWritableData(const NodeObj &nodeObj, const std::string &attrName): Gets writable data for a simple attribute.
std::string isaacsim::ros2::omnigraph_utils::inputOutput(bool isOutput): Returns the OmniGraph attribute prefix based on direction.
bool isaacsim::ros2::omnigraph_utils::removeDynamicAttributes(const NodeObj &nodeObj): Removes dynamic attributes from a node.
bool isaacsim::ros2::omnigraph_utils::writeMessageDataFromNode(OmniGraphDatabase &db, std::shared_ptr< Ros2Message > message, std::string prependStr, bool isOutput): Reads attribute data from an OmniGraph node and writes it to a ROS 2 message.
bool isaacsim::ros2::omnigraph_utils::writeNodeAttributeFromMessage(OmniGraphDatabase &db, std::shared_ptr< Ros2Message > message, std::string prependStr, bool isOutput): Reads data from a ROS 2 message and writes it to OmniGraph node attributes.
uint64_t isaacsim::sensors::physics::asInt(const pxr::SdfPath &path): Converts a USD path to an integer representation.
float isaacsim::sensors::physics::lerp(const float &start, const float &end, const float t): Linear interpolation between two values.
constexpr float isaacsim::sensors::rtx::deg2Rad(float deg): Converts degrees to radians.
void isaacsim::sensors::rtx::getTransformFromSensorPose(const omni::sensors::FrameAtTime &parm, omni::math::linalg::matrix4d &matrixOutput): Extracts transformation matrix from sensor pose information.
uint32_t isaacsim::sensors::rtx::idxOfReturn(const uint32_t beamId, const uint32_t echoId, const uint32_t numEchos, const uint32_t numBeams=0, const uint32_t tick=0): Calculates the index of a specific return in a flattened array.
void isaacsim::sensors::rtx::wrapCudaMemcpyAsync(T *dst, const T *src, uint32_t startLoc, uint32_t num, uint32_t numSpillover, cudaMemcpyKind kind): Wraps CUDA asynchronous memory copy with spillover handling.
float maxf(const float a, const float b)
std::string mesh::StatusToString(OmniConverterStatus status)
float minf(const float a, const float b)
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::conversions::asDcTransform(const pxr::GfVec3f &p, const pxr::GfQuatf &q): Converts USD position and orientation into Dynamic Control transform.
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::conversions::asDcTransform(const pxr::GfVec3d &p, const pxr::GfQuatd &q): Converts USD double precision position and orientation into Dynamic Control transform.
pxr::GfMatrix4d omni::isaac::dynamic_control::conversions::asGfMatrix4d(const omni::isaac::dynamic_control::DcTransform &input): Converts a DcTransform to a GfMatrix4d.
pxr::GfMatrix4f omni::isaac::dynamic_control::conversions::asGfMatrix4f(const omni::isaac::dynamic_control::DcTransform &input): Converts a DcTransform to a GfMatrix4f.
pxr::GfMatrix4f omni::isaac::dynamic_control::conversions::asGfMatrix4fT(const omni::isaac::dynamic_control::DcTransform &input): Converts a DcTransform to a transposed GfMatrix4f.
pxr::GfQuatd omni::isaac::dynamic_control::conversions::asGfQuatd(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfQuatd.
pxr::GfQuatf omni::isaac::dynamic_control::conversions::asGfQuatf(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfQuatf.
pxr::GfRotation omni::isaac::dynamic_control::conversions::asGfRotation(const carb::Float4 &q): Converts a carb::Float4 into a pxr::GfRotation.
pxr::GfTransform omni::isaac::dynamic_control::conversions::asGfTransform(const omni::isaac::dynamic_control::DcTransform &pose): Converts a DcTransform into a pxr::GfTransform.
pxr::GfVec3d omni::isaac::dynamic_control::conversions::asGfVec3d(const carb::Float3 &v): Converts a carb::Float3 into a pxr::GfVec3d.
pxr::GfVec3f omni::isaac::dynamic_control::conversions::asGfVec3f(const carb::Float3 &v): Converts a carb::Float3 into a pxr::GfVec3f.
inline ::physx::PxTransform omni::isaac::dynamic_control::conversions::asPxTransform(const omni::isaac::dynamic_control::DcTransform &pose): Converts DcTransform into PhysX transform.
constexpr uint32_t omni::isaac::dynamic_control::getHandleContextId(DcHandle h)
constexpr uint32_t omni::isaac::dynamic_control::getHandleObjectId(DcHandle h)
constexpr uint32_t omni::isaac::dynamic_control::getHandleTypeId(DcHandle h)
constexpr DcHandle omni::isaac::dynamic_control::makeHandle(uint64_t objectId, uint64_t typeId, uint64_t contextId)
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::inverse(const omni::isaac::dynamic_control::DcTransform &transform): Computes the inverse of a transform.
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::lerp(const omni::isaac::dynamic_control::DcTransform &a, const omni::isaac::dynamic_control::DcTransform &b, const float t): Linearly interpolates between two transforms.
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::operator*(const omni::isaac::dynamic_control::DcTransform &self, const omni::isaac::dynamic_control::DcTransform &other): Multiplies two transforms to compose them.
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::slerp(const omni::isaac::dynamic_control::DcTransform &a, const omni::isaac::dynamic_control::DcTransform &b, const float t): Performs spherical linear interpolation between transforms.
omni::isaac::dynamic_control::DcTransform omni::isaac::dynamic_control::math::transformInv(const omni::isaac::dynamic_control::DcTransform &a, const omni::isaac::dynamic_control::DcTransform &b): Computes the relative transform from a to b.
bool operator!=(const Colour &lhs, const Colour &rhs)
Vec2 operator*(const Matrix22 &a, const Vec2 &x): Matrix-vector multiplication operator.
Matrix22 operator*(const Matrix22 &a, const Matrix22 &b): Matrix-matrix multiplication operator.
Matrix22 operator*(float s, const Matrix22 &a): Scalar-matrix multiplication operator (scalar on left).
Matrix22 operator*(const Matrix22 &a, float s): Matrix-scalar multiplication operator (scalar on right).
Matrix33 operator*(const Matrix33 &a, float s): Matrix-scalar multiplication operator (scalar on right)
Vec3 operator*(const Matrix33 &a, const Vec3 &x): Matrix-vector multiplication operator.
Matrix33 operator*(const Matrix33 &a, const Matrix33 &b): Matrix multiplication operator.
Matrix33 operator*(float s, const Matrix33 &a): Scalar-matrix multiplication operator (scalar on left)
XVector4< T > operator*(const XMatrix44< T > &mat, const XVector4< T > &v)
XVector3< T > operator*(const XMatrix44< T > &mat, const XVector3< T > &v)
Point3 operator*(const XMatrix44< T > &mat, const Point3 &v)
Colour operator*(float lhs, const Colour &rhs)
Point3 operator*(float lhs, const Point3 &rhs): Scales a point by a scalar value (left-hand side scalar).
Vec3 operator*(const Quat &q, const Vec3 &v)
XQuat< T > operator*(T lhs, const XQuat< T > &rhs)
XVector2< T > operator*(T lhs, const XVector2< T > &rhs): Scales a vector by a scalar value (left-hand side scalar).
XVector2< T > operator*(const XVector2< T > &lhs, const XVector2< T > &rhs): Multiplies two vectors component-wise.
XVector3< T > operator*(T lhs, const XVector3< T > &rhs): Scalar multiplication operator (left-hand side)
XVector4< T > operator*(T lhs, const XVector4< T > &rhs)
Matrix22 & operator*=(Matrix22 &a, float s): Scalar multiplication assignment operator.
Matrix33 & operator*=(Matrix33 &a, float s): Scalar multiplication assignment operator.
Matrix22 operator+(const Matrix22 &a, const Matrix22 &b): Matrix addition operator.
Matrix33 operator+(const Matrix33 &a, const Matrix33 &b): Matrix addition operator.
XMatrix< m, n, T > operator+(const XMatrix< m, n, T > &lhs, const XMatrix< m, n, T > &rhs)
Point3 operator+(const Point3 &lhs, const Point3 &rhs): Adds two points component-wise.
Matrix22 & operator+=(Matrix22 &a, const Matrix22 &b): Matrix addition assignment operator.
Matrix33 & operator+=(Matrix33 &a, const Matrix33 &b): Matrix addition assignment operator.
Matrix22 operator-(const Matrix22 &a, const Matrix22 &b): Matrix subtraction operator.
Matrix33 operator-(const Matrix33 &a, const Matrix33 &b): Matrix subtraction operator.
XMatrix< m, n, T > operator-(const XMatrix< m, n, T > &lhs, const XMatrix< m, n, T > &rhs)
Vec3 operator-(const Point3 &lhs, const Point3 &rhs): Computes the vector from one point to another.
Matrix22 & operator-=(Matrix22 &a, const Matrix22 &b): Matrix subtraction assignment operator.
Matrix33 & operator-=(Matrix33 &a, const Matrix33 &b): Matrix subtraction assignment operator.
bool operator==(const Colour &lhs, const Colour &rhs)
bool operator==(const Point3 &lhs, const Point3 &rhs): Tests for equality between two points.
bool operator==(const XQuat< T > &lhs, const XQuat< T > &rhs)
bool operator==(const XVector2< T > &lhs, const XVector2< T > &rhs): Tests for equality between two vectors.
bool operator==(const XVector3< T > &lhs, const XVector3< T > &rhs): Equality comparison operator for vectors.
bool operator==(const XVector4< T > &lhs, const XVector4< T > &rhs)
void quat2Mat(const XQuat< float > &q, Matrix33 &m): Converts a quaternion to a 3x3 rotation matrix.
void quat2rpy(const Quat &q1, float &bank, float &attitude, float &heading)
Quat quaternionFromVectors(const Vec3 &vec1, const Vec3 &vec2)
Vec3 rotate(const Vec3 &q, float w, const Vec3 &x)
Vec3 rotateInv(const Vec3 &q, float w, const Vec3 &x)
Quat rpy2quat(const float roll, const float pitch, const float yaw)
float sign(float x)
void zUpQuat2rpy(const Quat &q1, float &roll, float &pitch, float &yaw)