feat(schemas): mesh-collision schema-fragment API (additive)#9
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feat(schemas): mesh-collision schema-fragment API (additive)#9vidurv-nvidia wants to merge 5 commits into
vidurv-nvidia wants to merge 5 commits into
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Add the additive mesh-collision schema-fragment family, mirroring the rigid-body pilot. Core gains the MeshCollisionFragment marker, the UsdPhysicsMeshCollisionCfg fragment carrying the physics:approximation token, and the apply_mesh_collision_properties family writer (applies the MeshCollisionAPI anchor, resolves and validates the approximation token from whichever cooking fragment is present, then dispatches each fragment via its func). PhysX cooking fragments (PhysxConvexHullCfg, PhysxConvexDecompositionCfg, PhysxTriangleMeshCfg, PhysxTriangleMeshSimplificationCfg, PhysxSDFMeshCfg) and Newton cooking fragments (NewtonMeshCollisionCfg, NewtonSDFCollisionCfg) each own a single namespace and applied schema, dispatched through the generic apply_namespaced applier. Widen the MeshConverterCfg.mesh_collision_props slot to accept a fragment list and add the transition bridge in mesh_converter.py without breaking the legacy single-cfg path. Legacy cfgs and modify_mesh_collision_properties stay intact.
…sionAPI unregistered)
No behavior change; collapse over-explained inline comments to terse intent.
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Description
Additive mesh-collision fragment family
MeshCollisionFragment,UsdPhysicsMeshCollisionCfg(physics:approximation),apply_mesh_collision_properties(anchorMeshCollisionAPI)PhysxConvexHullCfg,PhysxConvexDecompositionCfg,PhysxTriangleMeshCfg,PhysxTriangleMeshSimplificationCfg,PhysxSDFMeshCfgNewtonMeshCollisionCfg,NewtonSDFCollisionCfgphysics:approximationtoken is shared state set by whichever cooking fragment is present — handled in the family writer (uses the last non-nonefragment, validates againstMESH_APPROXIMATION_TOKENS). One cross-cutting change:apply_namespacednow skips themesh_approximation_namefield. Status: authored, ruff clean, sim verification pending.Fixes # (N/A — part of the staged physics schema-fragment refactor; no tracked public issue)
Type of change
Screenshots
N/A — no user-facing visual changes.
Checklist
ruff+ruff-format) on the changed files./isaaclab.sh -d; not separately authored)source/<pkg>/changelog.d/for every touched packageCONTRIBUTORS.md